diff --git a/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java b/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java index 076371db78..a61923fc25 100644 --- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java +++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java @@ -33,6 +33,7 @@ import com.mogo.och.common.module.biz.callback.ILoginCallback; import com.mogo.och.common.module.biz.constant.LoginStatusManager; import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager; import com.mogo.och.common.module.voice.VoiceNotice; +import com.zhjt.mogo.adas.data.AdasConstants; import java.util.ArrayList; import java.util.List; @@ -155,7 +156,7 @@ public class BusPresenter extends Presenter } @Override - public void onAutopilotSNRequest() { + public void onAutopilotSNRequest(@NonNull AdasConstants.CertificationStatus status) { } @@ -242,7 +243,7 @@ public class BusPresenter extends Presenter } @Override - public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) { + public void onAutopilotIpcConnectStatusChanged(@NonNull AdasConstants.IpcConnectionStatus status, @Nullable String reason) { } @Override diff --git a/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java b/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java index 796b8b1ee7..a95bd0b979 100644 --- a/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java +++ b/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java @@ -28,6 +28,7 @@ import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean; import com.mogo.och.common.module.biz.callback.ILoginCallback; import com.mogo.och.common.module.biz.constant.LoginStatusManager; import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager; +import com.zhjt.mogo.adas.data.AdasConstants; import java.util.ArrayList; @@ -153,7 +154,7 @@ public class BusPresenter extends Presenter } @Override - public void onAutopilotSNRequest() { + public void onAutopilotSNRequest(@NonNull AdasConstants.CertificationStatus status) { } @Override @@ -234,7 +235,7 @@ public class BusPresenter extends Presenter } @Override - public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) { + public void onAutopilotIpcConnectStatusChanged(@NonNull AdasConstants.IpcConnectionStatus status, @Nullable String reason) { } @Override diff --git a/OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/model/BusPassengerModel.java b/OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/model/BusPassengerModel.java index 985cea8437..207789f6bf 100644 --- a/OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/model/BusPassengerModel.java +++ b/OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/model/BusPassengerModel.java @@ -69,6 +69,7 @@ import com.mogo.och.data.bean.BusRoutesResult; import com.mogo.och.data.bean.BusStationBean; import com.mogo.och.data.bean.BusTransferData; import com.mogo.och.shuttle.passenger.network.PassengerServiceManager; +import com.zhjt.mogo.adas.data.AdasConstants; import java.util.ArrayList; import java.util.List; @@ -528,7 +529,7 @@ public class BusPassengerModel { } @Override - public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) { + public void onAutopilotIpcConnectStatusChanged(@NonNull AdasConstants.IpcConnectionStatus status, @Nullable String reason) { } @Override @@ -539,7 +540,7 @@ public class BusPassengerModel { private boolean arriveAtEnd = false; //乘客app专用字段 @Override - public void onAutopilotSNRequest() { + public void onAutopilotSNRequest(@NonNull AdasConstants.CertificationStatus status) { } diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java index 97453f051a..8e573daa92 100644 --- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java +++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java @@ -38,6 +38,7 @@ import com.mogo.och.sweeper.common.constant.SweeperConst; import com.mogo.och.sweeper.common.database.MyDataBase; import com.mogo.och.sweeper.common.database.bean.WeltDataBean; import com.mogo.och.sweeper.common.view.DebugView; +import com.zhjt.mogo.adas.data.AdasConstants; import com.zhjt.mogo.adas.data.AiCloudTask; import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable; import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask; @@ -701,7 +702,7 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene } @Override - public void onAutopilotSNRequest() { + public void onAutopilotSNRequest(@NonNull AdasConstants.CertificationStatus status) { } @@ -711,8 +712,8 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene } @Override - public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) { - if (status == 0x00) {//判断工控机重连后，获取当前正在执行的子任务,延时10秒，防止工控机连接上时SN为空 + public void onAutopilotIpcConnectStatusChanged(@NonNull AdasConstants.IpcConnectionStatus status, @Nullable String reason) { + if (status == AdasConstants.IpcConnectionStatus.CONNECTED) {//判断工控机重连后，获取当前正在执行的子任务,延时10秒，防止工控机连接上时SN为空 CallerAutoPilotControlManager.INSTANCE.setIsSubscribeBackCameraVideoVideo(0, false);//TODO 当前3.2.0版本产品未规划后摄像头展示功能 UiThreadHandler.postDelayed(() -> { getCurrentTask(); diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java index 4e91725c7b..563e811c56 100644 --- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java +++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java @@ -40,6 +40,7 @@ import com.mogo.och.sweeper.operate.fragment.SweeperOperateFragment; import com.mogo.och.sweeper.operate.model.SweeperOperateTaskModel; import com.mogo.och.sweeper.common.util.SweeperFutianCmdUtil; import com.mogo.och.sweeper.operate.util.SweeperTrajectoryManager; +import com.zhjt.mogo.adas.data.AdasConstants; import org.jetbrains.annotations.NotNull; @@ -220,7 +221,7 @@ public class SweeperOperatePresenter extends Presenter } @Override - public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) { + public void onAutopilotIpcConnectStatusChanged(@NonNull AdasConstants.IpcConnectionStatus status, @Nullable String reason) { DebugView.Companion.printInfoMsg( "[域控连接状态变化] status=" + status + ", reason=" + reason); @@ -244,7 +245,7 @@ public class SweeperOperatePresenter extends Presenter } @Override - public void onAutopilotSNRequest() { + public void onAutopilotSNRequest(@NonNull AdasConstants.CertificationStatus status) { } @Override diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java index f3f7823045..b801851a6d 100644 --- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java +++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java @@ -83,6 +83,7 @@ import com.mogo.och.taxi.network.TaxiServiceManager; import com.mogo.och.taxi.utils.OrderUtil; import com.mogo.och.taxi.utils.TaxiAnalyticsManager; import com.mogo.och.taxi.utils.TaxiTrajectoryManager; +import com.zhjt.mogo.adas.data.AdasConstants; import com.zhjt.service.chain.ChainLog; import org.jetbrains.annotations.NotNull; @@ -1212,7 +1213,7 @@ public class TaxiModel { } @Override - public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) { + public void onAutopilotIpcConnectStatusChanged(@NonNull AdasConstants.IpcConnectionStatus status, @Nullable String reason) { } @Override @@ -1280,7 +1281,7 @@ public class TaxiModel { } @Override - public void onAutopilotSNRequest() { + public void onAutopilotSNRequest(@NonNull AdasConstants.CertificationStatus status) { } @Override diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt index f4d58857aa..e6c738e781 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt @@ -36,6 +36,7 @@ import com.mogo.och.taxi.callback.ITaxiRoutingCallback import com.mogo.och.taxi.constant.TaxiUnmannedConst import com.mogo.och.taxi.network.TaxiRoutingServiceManager import com.mogo.och.taxi.ui.debug.DebugView +import com.zhjt.mogo.adas.data.AdasConstants import mogo.telematics.pad.MessagePad import mogo_msg.MogoReportMsg import java.util.concurrent.ConcurrentHashMap @@ -90,7 +91,7 @@ object TaxiRoutingModel { //MAP到站监听 private val mMogoAutopilotStatusListener: IMoGoAutopilotStatusListener = object : IMoGoAutopilotStatusListener { - override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) { + override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) { } override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) { diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt index 8b29762713..ea384630c7 100644 --- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt +++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt @@ -76,6 +76,7 @@ import com.mogo.och.taxi.ui.debug.DebugView import com.mogo.och.taxi.utils.RxJavaUtils import com.mogo.och.taxi.utils.TaxiAnalyticsManager import com.mogo.och.taxi.utils.TaxiTrajectoryManager +import com.zhjt.mogo.adas.data.AdasConstants import com.zhjt.service.chain.ChainLog import io.reactivex.Observable import io.reactivex.android.schedulers.AndroidSchedulers @@ -275,7 +276,7 @@ object TaxiTaskModel { private val mMogoAutopilotStatusListener: IMoGoAutopilotStatusListener = object : IMoGoAutopilotStatusListener { - override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) { + override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) { DebugView.printInfoMsg( "[域控连接状态变化] status=$status, reason=${ if (TextUtils.isEmpty( diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt index 5bce9e7599..cebdbfef9d 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt @@ -55,7 +55,6 @@ import com.zhidao.support.adas.high.AdasOptions import com.zhidao.support.adas.high.OnMultiDeviceListener import com.zhidao.support.adas.high.chain.AdasChain import com.zhidao.support.adas.high.common.Constants -import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS import com.zhidao.support.adas.high.common.CupidLogUtils import com.zhjt.mogo.adas.common.MessageType import com.zhjt.mogo.adas.data.AdasConstants @@ -98,7 +97,7 @@ class MoGoAutopilotControlProvider : override fun init(context: Context) { CallerLogger.i("$M_D_C$TAG", "初始化工控机连接……") mContext = context - AdasManager.getInstance().init(context) + AdasManager.getInstance().init(context)//必须在AdasManager.getInstance().create() 和构建AdasOptions之前调用 runCatching { // 初始化ADAS 域控制器 CupidLogUtils.setEnableLog(false) @@ -118,13 +117,13 @@ class MoGoAutopilotControlProvider : // "192.168.1.102" val options = AdasOptions.newBuilder() .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.PING) - .setPingAddressList(AdasManager.getInstance().ipcFixationIPList) + .setPingAddressList(AdasManager.getInstance().pingAddressList) .setPassenger(false) .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) // .setSubscribeInterfaceOptions(subscribeInterfaceOptions)// .build() - AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl()) + AdasManager.getInstance().create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl()) //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听///////////////////////////////////////////// // 监听ADAS-SDK获取到的工控机数据 AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl()) @@ -219,7 +218,7 @@ class MoGoAutopilotControlProvider : .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) .build() AdasManager.getInstance() - .create(options, MoGoAdasMsgConnectStatusListenerImpl()) + .create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl()) // 监听ADAS-SDK获取到的工控机数据 AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl()) // 接收司机屏发过来的感知、定位等数据 @@ -246,11 +245,11 @@ class MoGoAutopilotControlProvider : val options = AdasOptions .newBuilder() .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.PING) - .setPingAddressList(AdasManager.getInstance().ipcFixationIPList) + .setPingAddressList(AdasManager.getInstance().pingAddressList) .setPassenger(false)// 乘客端直连工控机改为false .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear) .build() - AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl()) + AdasManager.getInstance().create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl()) //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听///////////////////////////////////////////// // 监听ADAS-SDK获取到的工控机数据 AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl()) @@ -309,7 +308,7 @@ class MoGoAutopilotControlProvider : .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.SPECIFIED) .setSpecifiedAddress(autoPilotIp) .build() - AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl()) + AdasManager.getInstance().create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl()) // AdasManager.getInstance().adasOptions.isClient = false // AdasManager.getInstance().adasOptions.ipcConnectionMode = @@ -368,7 +367,7 @@ class MoGoAutopilotControlProvider : .sendAutoPilotModeReq(1, source, null) invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") } else { - if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) { + if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { val invokeResult = AdasManager.getInstance() .sendAutoPilotModeReq(1, source, null) invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") @@ -384,7 +383,7 @@ class MoGoAutopilotControlProvider : .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo()) invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") } else { - if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) { + if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { val invokeResult = AdasManager.getInstance() .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo()) invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空") @@ -431,7 +430,7 @@ class MoGoAutopilotControlProvider : } override fun cancelAutoPilot() { - if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) { + if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) { AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null) } else { CallerLogger.e("$M_D_C$TAG", "车机与工控机链接失败，无法断开自动驾驶") @@ -925,7 +924,7 @@ class MoGoAutopilotControlProvider : * 车机与工控机是否连上了 */ override fun isConnected(): Boolean { - return AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED + return AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED } /** diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt index d19aa5163e..82725936f2 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -58,6 +58,7 @@ import com.mogo.support.obu.ObuScene import com.zhidao.support.adas.high.OnAdasListener import com.zhjt.mogo.adas.data.bean.AdasParam import com.zhidao.support.adas.high.common.ProtocolStatus +import com.zhjt.mogo.adas.data.AdasConstants import com.zhjt.mogo.adas.data.AiCloudTask import com.zhjt.mogo.adas.data.bean.AutopilotStatistics import com.zhjt.mogo.adas.data.bean.ReceivedAck @@ -357,12 +358,17 @@ class MoGoAdasListenerImpl : OnAdasListener { } } - // 自动驾驶设备基础信息请求 - override fun onBasicInfoReq( - header: MessagePad.Header, - basicInfoReq: MessagePad.BasicInfoReq? - ) { - invokeAutopilotSNRequest() + /** + * 自动驾驶设备基础信息请求 + * 连接时启用认证 后才会有认证结果 + * ROOT证书异常会影响校验域控证书 + * PAD证书异常会影响域控端校验的证书校验，域控端证书校验失败将会断开连接，且并不会给出断开原因，ADAS LIB会执行重连操作（如果配置启用重连） + * 校验域控证书认证失败会主动断开连接，且不进行重连 + * + * @param status 域控证书认证结果{@link AdasConstants.CertificationStatus} + */ + override fun onBasicInfoReq(status: AdasConstants.CertificationStatus) { + invokeAutopilotSNRequest(status) } //工控机基础配置信息 diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt index 2a4d638496..7a6f0c1113 100644 --- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt +++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt @@ -1,6 +1,10 @@ package com.mogo.eagle.core.function.datacenter.autopilot.adapter -import com.mogo.commons.debug.DebugConfig.* +import com.mogo.commons.debug.DebugConfig.NET_MODE_DEMO +import com.mogo.commons.debug.DebugConfig.NET_MODE_DEV +import com.mogo.commons.debug.DebugConfig.NET_MODE_QA +import com.mogo.commons.debug.DebugConfig.NET_MODE_RELEASE +import com.mogo.commons.debug.DebugConfig.getNetMode import com.mogo.commons.storage.SharedPrefsMgr import com.mogo.eagle.core.data.app.AppConfigInfo import com.mogo.eagle.core.data.config.FunctionBuildConfig @@ -18,10 +22,13 @@ import com.mogo.eagle.core.utilcode.util.ToastUtils import com.zhidao.support.adas.high.AdasManager import com.zhidao.support.adas.high.OnAdasConnectStatusListener import com.zhidao.support.adas.high.bean.VersionCompatibility -import com.zhidao.support.adas.high.common.Constants -import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.* +import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.DEMO +import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.DEVELOP +import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.PRODUCTION +import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.TEST import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DRIVER import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER +import com.zhjt.mogo.adas.data.AdasConstants /** * ADAS-SDK与工控机连接状态回调 @@ -39,17 +46,53 @@ class MoGoAdasMsgConnectStatusListenerImpl : init { CallerCloudListenerManager.addListener(TAG, this) - CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) - CallerParallelDrivingActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) + CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) + CallerParallelDrivingActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) } - override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) { - CallerAutopilotActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) - CallerParallelDrivingActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) + private fun resetArgs(reason: String? = null) { + if (connectStatus) { + reason?.let { + ToastUtils.showLong(it) + } + connectStatus = false + } + + CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = + AdasManager.getInstance().ipcConnectedIp + CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectPort = + AdasManager.getInstance().ipcConnectedPort + CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false + AppConfigInfo.isConnectAutopilot = false + //与工控机断开连接，需要重置自动驾驶状态(包括上传至云平台缓存信息)，等待连接成功后同步状态信息 + CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state = 0 + CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().pilotmode = 0 + } + + /** + * 与工控机链接状态变化 + * + * @param status {@link AdasConstants.IpcConnectionStatus} + * @param reason 连接信息（需要判null）,目前只有以下参数存在值，其他全部为null + * {@link AdasConstants.IpcConnectionStatus#HEARTBEAT_TIMEOUT} 表示超时时间 + * {@link AdasConstants.IpcConnectionStatus#CONNECT_EXCEPTION} 表示连接异常原因 + * {@link AdasConstants.IpcConnectionStatus#SERVER_DISCONNECTED} 服务端断开（如果服务端关闭时发送了原因将存在，如果服务端关闭时未发送将为null） + */ + override fun onConnectionIPCStatus(status: AdasConstants.IpcConnectionStatus, reason: String?) { + CallerAutopilotActionsListenerManager.setConnected(status == AdasConstants.IpcConnectionStatus.CONNECTED) + CallerParallelDrivingActionsListenerManager.setConnected(status == AdasConstants.IpcConnectionStatus.CONNECTED) AppConfigInfo.connectStatusDescribe = reason - when (ipcConnectionStatus) { - Constants.IPC_CONNECTION_STATUS.CONNECTED -> { - CallerLogger.d("$M_D_C$TAG", "webSocket 连接成功") + when (status) { + AdasConstants.IpcConnectionStatus.DISCONNECTED -> { + CallerLogger.d( + "$M_D_C$TAG", + "未连接或主动断开连接（未连接：鹰眼首次启动时未调用连接函数【目前鹰眼默认启动就会调用连接函数】；主动断开连接：主动调用断开连接函数；）" + ) + resetArgs() + } + + AdasConstants.IpcConnectionStatus.CONNECTED -> { + CallerLogger.d("$M_D_C$TAG", "已连接") connectStatus = true // 初始化自动驾驶状态信息 CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = @@ -71,38 +114,86 @@ class MoGoAdasMsgConnectStatusListenerImpl : //每次工控机连接成功后，需同步当前设置的雨天模式状态 CallerAutoPilotControlManager.setRainMode(FunctionBuildConfig.isRainMode) } - Constants.IPC_CONNECTION_STATUS.DISCONNECTED -> { - CallerLogger.d("$M_D_C$TAG", "webSocket 连接失败 reason:$reason") - if (connectStatus) { - reason?.let { - ToastUtils.showLong("工控机连接断开，原因:$it , 等待重连") - } - connectStatus = false - } - CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = - AdasManager.getInstance().ipcConnectedIp - CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectPort = - AdasManager.getInstance().ipcConnectedPort - CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false - AppConfigInfo.isConnectAutopilot = false - //与工控机断开连接，需要重置自动驾驶状态(包括上传至云平台缓存信息)，等待连接成功后同步状态信息 - CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state = 0 - CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().pilotmode = 0 + + AdasConstants.IpcConnectionStatus.CONNECTING -> { + CallerLogger.d("$M_D_C$TAG", "连接中") } - Constants.IPC_CONNECTION_STATUS.CONNECTING -> { - CallerLogger.d("$M_D_C$TAG", "webSocket 正在连接") + + AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER -> { + CallerLogger.d("$M_D_C$TAG", "重连中（定时器）") } - Constants.IPC_CONNECTION_STATUS.SEARCH_ADDRESS -> { - CallerLogger.d("$M_D_C$TAG", "webSocket 正在搜索工控机IP") + + AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK -> { + CallerLogger.d("$M_D_C$TAG", "重连中（网络监听）") } - Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS -> { - CallerLogger.d("$M_D_C$TAG", "webSocket 找不到可用IP 传入的IP不可用或固定IP列表中所有IP不可用") + + AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION -> { + CallerLogger.d( + "$M_D_C$TAG", + "连接异常（表示鹰眼与域控连接失败、无法连接、非正常断开等），原因：$reason" + ) + resetArgs("域控连接异常，等待重连。原因：${reason}") + } + + AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS -> { + CallerLogger.d( + "$M_D_C$TAG", + "非法地址（连接模式为指定地址时：表示当前鹰眼调用连接时传入的域控地址错误或不符合规则【不修改默认配置不会出现此问题】；连接模式为PING模式时：表示传入的PING地址列表存在问题）" + ) + resetArgs() + } + + AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS -> { + CallerLogger.d( + "$M_D_C$TAG", + "正在搜索域控地址（表示当前鹰眼正在查找是否有可用的域控地址）" + ) + } + + AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS -> { + CallerLogger.d( + "$M_D_C$TAG", + "找不到可用地址（当前鹰眼配置的域控地址列表中的全部地址均无法PING通【不修改默认配置的情况下需要排查PAD是否连接车载路由器、工控机是否连接车载路由器、工控机是否开机等】）" + ) + resetArgs() + } + + AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED -> { + CallerLogger.d( + "$M_D_C$TAG", + "认证异常（表示鹰眼端或鹰眼端和域控端启用认证后，认证出现异常。具体认证异常状态详情见认证状态CertificationStatus【鹰眼端验证域控证书失败会断开连接不进行重连；域控端验证鹰眼端证书失败会断开连接，但是由于域控断开并没有发送断开的原因所以鹰眼会自动重连，重连次数可配置为：用不重连、无限重连、指定次数重连】）" + ) + resetArgs() + } + + AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT -> { + CallerLogger.d( + "$M_D_C$TAG", + "心跳超时（表示连接域控成功后在一段时间内未收到域控任何数据，默认4秒【可以配置】），超时时间：${reason}秒" + ) + resetArgs("与域控心跳超时，等待重连") + } + + AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH -> { + CallerLogger.d( + "$M_D_C$TAG", + "協議不匹配（表示被连接的服务端非WebSocket协议【可能性非常低】）" + ) + resetArgs() + } + + AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED -> { + CallerLogger.d( + "$M_D_C$TAG", + "域控主动断开连接（表示域控主动发起断开WebSocket连接，目前主要原因有：1.证书认证失败；2.老版本MAP不支持多连接的情况下会踢掉客户端；），域控断开发送的消息：${reason}" + ) + resetArgs("域控主动断开连接，等待重连。可能原因：证书认证失败或不支持多连接") } } - CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = ipcConnectionStatus + CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = status CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusDescribe = reason CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus() - CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(ipcConnectionStatus, reason) + CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(status, reason) } override fun onCompatibility(versionCompatibility: VersionCompatibility?) { @@ -112,7 +203,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : /** * 工控机获取SN */ - override fun onAutopilotSNRequest() { + override fun onAutopilotSNRequest(status: AdasConstants.CertificationStatus) { syncBasicInfoToAutopilot() } diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt index ed04aff1cb..fa2b09bb08 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt @@ -8,6 +8,7 @@ import chassis.ChassisStatesOuterClass import com.mogo.eagle.core.function.api.autopilot.* import com.mogo.eagle.core.function.call.autopilot.* import com.mogo.eagle.core.utilcode.kotlin.safeCancel +import com.zhjt.mogo.adas.data.AdasConstants import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus import com.zhjt.mogo_core_function_devatools.status.flow.IFlow import kotlinx.coroutines.Job @@ -74,7 +75,7 @@ internal class CanImpl(ctx: Context) : send(CanStatus(isCanEnabled())) } - override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) { + override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) { super.onAutopilotIpcConnectStatusChanged(status, reason) send(CanStatus(isCanEnabled())) } diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt index a113c357cf..f63f224552 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt @@ -3,6 +3,7 @@ package com.zhjt.mogo_core_function_devatools.status.flow.ipc import android.content.* import com.mogo.eagle.core.function.api.autopilot.* import com.mogo.eagle.core.function.call.autopilot.* +import com.zhjt.mogo.adas.data.AdasConstants import com.zhjt.mogo_core_function_devatools.status.flow.IFlow import com.zhjt.mogo_core_function_devatools.status.entity.IpcStatus @@ -12,14 +13,14 @@ internal class IpcImpl(ctx: Context): IFlow(ctx), IMoGoAutopilotStatu const val TAG = "IpcImpl" } - private var state: Int = -1 + private var state: AdasConstants.IpcConnectionStatus? = null override fun onCreate() { checkAndSend() CallerAutoPilotStatusListenerManager.addListener(TAG, this) } - override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) { + override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) { super.onAutopilotIpcConnectStatusChanged(status, reason) if (state != status) { checkAndSend() diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt index 1dfae49417..094282a18a 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt @@ -9,6 +9,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA +import com.zhjt.mogo.adas.data.AdasConstants import com.zhjt.mogo_core_function_devatools.status.entity.RTKStatus import com.zhjt.mogo_core_function_devatools.status.flow.IFlow import kotlinx.coroutines.Dispatchers @@ -83,7 +84,7 @@ internal class RTKImpl(ctx: Context): IFlow(ctx), IMoGoAutopilotStatu } } - override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) { + override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) { super.onAutopilotIpcConnectStatusChanged(status, reason) if (!CallerAutoPilotStatusListenerManager.isConnect()) { CallerLogger.d("$M_DEVA$TAG", "工控机断开了....") diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt index 0746962d6e..57344edcbf 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt @@ -4,6 +4,7 @@ import android.content.* import com.mogo.eagle.core.function.api.autopilot.* import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_RUNNING import com.mogo.eagle.core.function.call.autopilot.* +import com.zhjt.mogo.adas.data.AdasConstants import com.zhjt.mogo_core_function_devatools.status.entity.* import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.* import com.zhjt.mogo_core_function_devatools.status.flow.* @@ -19,7 +20,7 @@ internal class TracingImpl(ctx: Context): IFlow(ctx), IMoGoAutopi private var old: TracingStatus.Tracing = UNKNOWN - private val ipcConnectStatus by lazy { AtomicInteger() } + private val ipcConnectStatus by lazy { AtomicReference() } private val ipcStatus by lazy { AtomicInteger() } @@ -54,7 +55,7 @@ internal class TracingImpl(ctx: Context): IFlow(ctx), IMoGoAutopi } } - override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) { + override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) { super.onAutopilotIpcConnectStatusChanged(status, reason) try { if (ipcConnectStatus.get() != status) { diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BlueToothView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BlueToothView.kt index 0aab5a61ca..7a6daf0258 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BlueToothView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BlueToothView.kt @@ -17,6 +17,7 @@ import com.mogo.eagle.core.utilcode.kotlin.onClick import com.mogo.eagle.core.utilcode.util.NetworkUtils import com.mogo.eagle.core.utilcode.util.ToastUtils import com.mogo.eagle.core.utilcode.util.UiThreadHandler +import com.zhjt.mogo.adas.data.AdasConstants import kotlinx.android.synthetic.main.view_blue_tooth.view.* import java.util.concurrent.TimeUnit import java.util.concurrent.atomic.AtomicInteger @@ -99,7 +100,7 @@ open class BlueToothView: LinearLayout, IMoGoMoFangProvider.OnMoFangStatusListen } } - override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) { + override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) { super.onAutopilotIpcConnectStatusChanged(status, reason) if (!CallerAutoPilotStatusListenerManager.isConnect()) { UiThreadHandler.post { diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt index 7df9053a03..2e62b963ab 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt @@ -16,6 +16,7 @@ import com.mogo.eagle.core.function.hmi.notification.WarningFloat import com.mogo.eagle.core.function.hmi.ui.tools.DockerRebootDialog import com.mogo.eagle.core.utilcode.util.ThreadUtils import com.mogo.eagle.core.utilcode.util.ToastUtils +import com.zhjt.mogo.adas.data.AdasConstants import kotlinx.android.synthetic.main.view_check_system.view.* class CheckSystemView @JvmOverloads constructor( @@ -100,10 +101,10 @@ class CheckSystemView @JvmOverloads constructor( CallerAutoPilotStatusListenerManager.removeListener(TAG) } - override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) { + override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) { super.onAutopilotIpcConnectStatusChanged(status, reason) ThreadUtils.runOnUiThread { - setViewStatus(status == 0x00) + setViewStatus(status == AdasConstants.IpcConnectionStatus.CONNECTED) } } diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ConnectStatusView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ConnectStatusView.kt index 9669bf760a..b03e6c6491 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ConnectStatusView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ConnectStatusView.kt @@ -12,6 +12,7 @@ import com.mogo.eagle.core.function.hmi.R import com.mogo.eagle.core.utilcode.util.NetworkUtils import com.mogo.eagle.core.utilcode.util.NetworkUtils.OnNetworkStatusChangedListener import com.mogo.eagle.core.utilcode.util.SpanUtils +import com.zhjt.mogo.adas.data.AdasConstants import kotlinx.android.synthetic.main.view_connect_status.view.tvADASStatus import kotlinx.android.synthetic.main.view_connect_status.view.tvNetStatus @@ -105,11 +106,14 @@ class ConnectStatusView @JvmOverloads constructor( } } - override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) { + override fun onAutopilotIpcConnectStatusChanged( + status: AdasConstants.IpcConnectionStatus, + reason: String? + ) { super.onAutopilotIpcConnectStatusChanged(status, reason) tvADASStatus.post { when (status) { - IPC_CONNECTION_STATUS.CONNECTED -> { + AdasConstants.IpcConnectionStatus.CONNECTED -> { // 统计代码 val properties: MutableMap = HashMap() properties["连接状态"] = "已连接" @@ -135,7 +139,15 @@ class ConnectStatusView @JvmOverloads constructor( MogoAnalyticUtils.track("IPC_CONNECTION_STATUS", properties) } - IPC_CONNECTION_STATUS.DISCONNECTED -> { + AdasConstants.IpcConnectionStatus.DISCONNECTED,//未连接或主动断开连接（不管是否配置重连都不进行重连） + AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION,//连接异常 + AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS,//非法地址不管是否配置重连都不进行重连） + AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS,//找不到可用地址 + AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED,//认证异常（不管是否配置重连都不进行重连） + AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT,//心跳超时 + AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH,//協議不匹配 + AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED,//服务端主动断开连接 + -> { disconnectADASCount++ disconnectADASTime = System.currentTimeMillis() val adasSpan = SpanUtils.with(tvADASStatus) @@ -173,33 +185,4 @@ class ConnectStatusView @JvmOverloads constructor( CallerAutoPilotStatusListenerManager.removeListener(TAG) } - interface IPC_CONNECTION_STATUS { - companion object { - /** - * 已连接 - */ - const val CONNECTED = 0x00 - - /** - * 未连接 - */ - const val DISCONNECTED = 0x01 - - /** - * 正在连接 - */ - const val CONNECTING = 0x02 - - /** - * 正在搜索IP - */ - const val SEARCH_ADDRESS = 0x03 - - /** - * 找不到可用IP 传入的IP不可用或固定IP列表中所有IP不可用 - */ - const val NOT_FOUND_ADDRESS = 0x04 - } - } - } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt index 69a48cf285..9d26a77ada 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt @@ -51,6 +51,7 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler import com.mogo.map.listener.IMogoMapListener import com.mogo.map.listener.MogoMapListenerHandler.Companion.mogoMapListenerHandler import com.mogo.map.uicontroller.EnumMapUI +import com.zhjt.mogo.adas.data.AdasConstants import com.zhjt.service.chain.ChainLog import kotlinx.android.synthetic.main.module_main_activity_main.module_main_id_cover_up import kotlinx.android.synthetic.main.module_main_activity_main.rvConnectInfo @@ -71,8 +72,8 @@ open class MainActivity : MvpActivity(), MainView, private var isFirst = false private var mConnAdapter: ConnInfoAdapter? = null private val dataList: List = ArrayList() -// private var mLastStatus = 0x00 - private var mLastStatus = 0x01 +// private var mLastStatus = AdasConstants.IpcConnectionStatus.CONNECTED + private var mLastStatus = AdasConstants.IpcConnectionStatus.DISCONNECTED private var isFloatingLayerHidden = false override fun getLayoutId(): Int { @@ -323,7 +324,7 @@ open class MainActivity : MvpActivity(), MainView, MogoStatusManager.getInstance().setMainPageIsBackgroundStatus(TAG, true) } - override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) { + override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) { super.onAutopilotIpcConnectStatusChanged(status, reason) UiThreadHandler.post { if(mLastStatus != status){ diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt index afe5bf3a52..5029ff9526 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt @@ -1,5 +1,6 @@ package com.mogo.eagle.core.data.autopilot +import com.zhjt.mogo.adas.data.AdasConstants import java.io.Serializable /** @@ -62,7 +63,7 @@ open class AutopilotStatusInfo : Serializable, Cloneable { // 默认未连接 @Volatile - var ipcConnStatus = 0x01 + var ipcConnStatus = AdasConstants.IpcConnectionStatus.DISCONNECTED /** * 记录最后一次启动自动驾驶需要的参数，结束自动驾驶后设置为null diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt index b022e6a006..c8995f3d7f 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt @@ -1,5 +1,6 @@ package com.mogo.eagle.core.function.api.autopilot +import com.zhjt.mogo.adas.data.AdasConstants import mogo.telematics.pad.MessagePad import mogo_msg.MogoReportMsg import system_master.* @@ -35,7 +36,7 @@ interface IMoGoAutopilotStatusListener { /** * 工控机获取SN */ - fun onAutopilotSNRequest() {} + fun onAutopilotSNRequest(status: AdasConstants.CertificationStatus) {} /** * 工控机监控节点 @@ -45,7 +46,7 @@ interface IMoGoAutopilotStatusListener { /** * 工控机连接状态回调 */ - fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {} + fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) {} /** * 工控机主动查询 AdasManager#sendStatusQueryReq()，后会收到如下回调 diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt index ecd573a124..2177c60424 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt @@ -6,6 +6,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener import com.mogo.eagle.core.function.call.base.CallerBase import com.mogo.eagle.core.function.call.trace.CallerTrace import com.mogo.eagle.core.utilcode.util.GsonUtils +import com.zhjt.mogo.adas.data.AdasConstants import mogo.telematics.pad.MessagePad import mogo_msg.MogoReportMsg import system_master.SsmInfo @@ -177,10 +178,10 @@ object CallerAutoPilotStatusListenerManager : CallerBase dispatchHandlers = new HashMap<>();//其他分发线程 private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息 private int seqSpecialVehicle = 0;//特种车辆命令发送次数 - private AdasConstants.ChassisSource usedChassisSource = AdasConstants.ChassisSource.CHASSIS_UNKNOWN;//使用的底盘类型 新老 - private AdasConstants.SsmSource usedSsmSource = AdasConstants.SsmSource.SSM_UNKNOWN;//使用的SSM类型 - - /** - * 与工控机链接状态 - */ - private final AtomicInteger ipcConnectionStatus = new AtomicInteger(Constants.IPC_CONNECTION_STATUS.DISCONNECTED); + private AdasConstants.ChassisSource usedChassisSource = AdasConstants.ChassisSource.CHASSIS_UNKNOWN;//使用的底盘类型 新底盘接口还是老底盘接口 + private AdasConstants.SsmSource usedSsmSource = AdasConstants.SsmSource.SSM_UNKNOWN;//使用的SSM类型 服务接口还是定频接口 /** @@ -140,16 +136,21 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec /** * IPC固定IP查询工具类 */ - private IPCFixationIPHelper ipcFixationIPHelper; + private PingAddressHelper pingAddressHelper; /** * 工控机接口注册 连接成功后可以进行操作 乘客屏未null * 乘客屏无法进行注册或取消注册，因为乘客屏无法感知司机屏与工控机连接状态。无法重置已注册或未注册接口列表 */ private SubscribeInterface subscribeInterface; private Timer carConfigReqTimer;//车辆基础信息请求 多次请求防止无法收到基础信息情况出现 + + private OnAdasListener mAdasListener; + //连接状态listener + private final OnAdasConnectStatusListener adasConnectStatusListener; private Context context; private final ReceivedAckManager receivedAckManager = new ReceivedAckManager();//消息回执 + private final AtomicBoolean isInitConfigure = new AtomicBoolean(false);//是否进行配置初始化 public void setOnMultiDeviceListener(OnMultiDeviceListener onMultiDeviceListener) { this.onMultiDeviceListener = onMultiDeviceListener; @@ -157,12 +158,20 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec @Override public void onStartFindIP() { - updateConnectStatus(Constants.IPC_CONNECTION_STATUS.SEARCH_ADDRESS, "正在搜索IP"); + updateConnectStatus(AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS); } @Override - public void onStopFindIP() { - updateConnectStatus(Constants.IPC_CONNECTION_STATUS.DISCONNECTED, "停止搜索IP"); + public void onIllegalAddress() { + updateConnectStatus(AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS); + } + + @Override + public void onStopFindIP(boolean isCall) { + pingAddressHelper = null; + if (isCall) { + updateConnectStatus(AdasConstants.IpcConnectionStatus.DISCONNECTED); + } } /** @@ -172,7 +181,11 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ @Override public void onAvailableIP(String ip) { - onConnectionAddress(ip); + if (TextUtils.isEmpty(ip)) { + updateConnectStatus(AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS); + } else { + onConnectionAddress(ip); + } } /** @@ -186,14 +199,15 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec this.adasConnectStatusListener = listener; setAdasOptions(options); initData(); - if (!adasOptions.isPassenger() && listener != null) + if (!adasOptions.isPassenger() && listener != null && adasOptions.isAutoConnect()) connect(); } + @Override public void setAdasOptions(AdasOptions options) { //配置为null默认是乘客屏幕 if (options == null) { - buildAdasOptions(AdasOptions.newBuilder()); + adasOptionsBuild(AdasOptions.newBuilder()); } else { this.adasOptions = options; } @@ -206,10 +220,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec * * @param builder builder */ - private void buildAdasOptions(@NonNull AdasOptions.Builder builder) { + private void adasOptionsBuild(@NonNull AdasOptions.Builder builder) { this.adasOptions = builder.build(); } + private AdasOptions.Builder adasOptionsToBuilder() { + return adasOptions.toBuilder(); + } + private void initData() { //原始数据解析类 rawUnpack = new RawUnpack(); @@ -308,10 +326,19 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec /** * 根据固定IP查询可用IP */ - private void ipcFixationIPHelper(HashSet ips) { - if (ipcFixationIPHelper == null) - ipcFixationIPHelper = new IPCFixationIPHelper(this); - ipcFixationIPHelper.start(ips); + private void startPingAddress(HashSet ips) { + if (pingAddressHelper == null) { + pingAddressHelper = new PingAddressHelper(this); + pingAddressHelper.start(ips); + } + pingAddressHelper.setReconnectCount(adasOptions.getReconnectCount()); + } + + private void stopPingAddress(boolean isCall) { + if (pingAddressHelper != null) { + pingAddressHelper.stop(isCall); + pingAddressHelper = null; + } } @ChainLog(linkChainLog = CHAIN_TYPE_INIT_STATUS, @@ -330,7 +357,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec WSByteQueueManager.getInstance().initDector(); } } -// mSocket.setReconnectCount(adasOptions.getReconnectCount()); + mSocket.setReconnectCount(adasOptions.getReconnectCount()); } @ChainLog(linkChainLog = CHAIN_TYPE_INIT_STATUS, @@ -339,10 +366,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec paramIndexes = {0, 1}) private void connectSocket(String address, int port) { if (mSocket != null) { + isInitConfigure.set(false); mSocket.connectWebSocket(address, port); } } + @Override public String getIpcConnectedIp() { return ipcConnectedIp; @@ -363,10 +392,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec return usedSsmSource; } - @Override - public void setUnableLaunchAutopilotGear(Set unableLaunchAutopilotGear) { - AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear); - } public void setSupportReceivedAck(int version) { receivedAckManager.setSupport(version); @@ -520,6 +545,55 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec } } + /** + * 认证超时执行 + */ + private final Runnable certificationTimeoutRunnable = new Runnable() { + @Override + public void run() { + certification(true, null); + } + }; + + private void certification(boolean isTimeout, String ipcCrt) { + AdasConstants.CertificationStatus result = AdasConstants.CertificationStatus.NOT_ENABLED; + //检查是否开启验证 + if (adasOptions.isCertification()) { + if (isTimeout) { + result = AdasConstants.CertificationStatus.TIMEOUT; + } else { + if (defaultDispatchHandler != null) { + defaultDispatchHandler.removeCallbacks(certificationTimeoutRunnable); + } + String rootCrt = adasOptions.getRootCrt(); + if (rootCrt == null || rootCrt.length() == 0) { + //提示证书验证失败 + result = AdasConstants.CertificationStatus.ROOT_CRT_ERROR; + } else { + if (ipcCrt == null || ipcCrt.length() == 0) { + //提示域控证书失败 + result = AdasConstants.CertificationStatus.IPC_CRT_ERROR; + } else { + boolean isSucceed = CertificateUtils.certificateChainValidation(rootCrt, ipcCrt); + result = isSucceed ? AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_SUCCESS : AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_FAILED; + } + } + } + } + if (mAdasListener != null) { + mAdasListener.onBasicInfoReq(result); + } + CupidLogUtils.log(TAG, "证书验证状态=" + result); + if (result == AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_SUCCESS) { + //验证域控证书成功后发送数据给域控 +// initConfigure(); + } else if (result.getNumber() > AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_SUCCESS.getNumber()) { + //认证失败，断开连接 + disconnect(true); + } + + } + /** * 分发和解析 * @@ -537,6 +611,11 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec long time = System.currentTimeMillis(); MessagePad.ReceivedAck ack = MessagePad.ReceivedAck.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); receivedAckManager.receiveReceivedAck(time, ack); + CupidLogUtils.log(TAG, "收到回执=" + ack); + } else if (messageType == MessageType.TYPE_RECEIVE_BASIC_INFO_REQ.typeCode) { + MessagePad.BasicInfoReq autopilotState = MessagePad.BasicInfoReq.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); + String ipcCrt = CertificateUtils.decode(autopilotState.getCertification()); + certification(false, ipcCrt); } else { IMsg iMsg = myMessageFactory.createMessage(messageType); if (iMsg == null) { @@ -544,6 +623,11 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec return; } iMsg.handlerMsg(raw, mAdasListener); + //存在定频数据接口，当收到域控任意定频数据，就认为通讯彻底建立成功，可以交互数据 + if (!isInitConfigure.get()) { + isInitConfigure.set(true); + initConfigure(); + } } } else { callError(raw.getProtocolStatus(), raw.originalData.toByteArray()); @@ -573,11 +657,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec //当是司机屏才启用 if (!adasOptions.isPassenger()) { initSocket(); - if (ipcConnectionStatus.get() == Constants.IPC_CONNECTION_STATUS.DISCONNECTED || - ipcConnectionStatus.get() == Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS) { + if (connectFinish()) { switch (adasOptions.getConnectionMode()) { case AdasOptions.IPC_CONNECTION_MODE.PING: - ipcFixationIPHelper(adasOptions.getPingAddressList()); + startPingAddress(adasOptions.getPingAddressList()); break; case AdasOptions.IPC_CONNECTION_MODE.SPECIFIED: onConnectionAddress(adasOptions.getSpecifiedAddress()); @@ -592,12 +675,15 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec */ @Override public void disconnect() { - if (ipcFixationIPHelper != null) { - ipcFixationIPHelper.stop(); - } + disconnect(false); + } + + public void disconnect(boolean isCertificationFailed) { + stopPingAddress(true); + isInitConfigure.set(false); if (!adasOptions.isPassenger()) { if (mSocket != null) - mSocket.closeWebSocket(); + mSocket.closeWebSocket(isCertificationFailed); if (isUseQueue) { WebSocketQueueManager.getInstance().release(); WSByteQueueManager.getInstance().release(); @@ -605,46 +691,73 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec } } - @Override - public void onConnecting(String msg) { - updateConnectStatus(Constants.IPC_CONNECTION_STATUS.CONNECTING, msg == null ? "" : msg); - } - - @Override - public void onWebSocketConnectSuccess(String ipAddress, int port) { + /** + * 连接成功欧配置一些参数和发送一些配置数据 + */ + private void initConfigure() { startCarConfigReq(); - ipcConnectedIp = ipAddress; - ipcConnectedPort = port; subscribeInterface = new SubscribeInterface(this); - seqSpecialVehicle = 0; - updateConnectStatus(Constants.IPC_CONNECTION_STATUS.CONNECTED, "已连接"); //根据连接配置 进行接口订阅或取消订阅配置 - if (adasOptions != null) { - Set options = adasOptions.getSubscribeInterfaceOptions(); - if (options != null && !options.isEmpty()) { - for (SubscribeInterfaceOption option : options) { - MessageType messageType = option.getMessageType(); - if (messageType != null) { - subscribeInterface.subscribeInterface(option.getRole(), option.getType(), messageType); - } - Set messageTypes = option.getMessageTypes(); - if (messageTypes != null) { - subscribeInterface.subscribeInterface(option.getRole(), option.getType(), messageTypes); - } + Set options = adasOptions.getSubscribeInterfaceOptions(); + if (options != null && !options.isEmpty()) { + for (SubscribeInterfaceOption option : options) { + MessageType messageType = option.getMessageType(); + if (messageType != null) { + subscribeInterface.subscribeInterface(option.getRole(), option.getType(), messageType); + } + Set messageTypes = option.getMessageTypes(); + if (messageTypes != null) { + subscribeInterface.subscribeInterface(option.getRole(), option.getType(), messageTypes); } } } } @Override - public void onWebSocketConnectFailed(String t) { - ipcConnectedIp = null; - ipcConnectedPort = Constants.DEFAULT_PORT; - subscribeInterface = null; - usedChassisSource = AdasConstants.ChassisSource.CHASSIS_UNKNOWN; - usedSsmSource = AdasConstants.SsmSource.SSM_UNKNOWN; - receivedAckManager.stop(); - updateConnectStatus(Constants.IPC_CONNECTION_STATUS.DISCONNECTED, t == null ? "" : t); + public void onWebSocketConnectStatus(AdasConstants.IpcConnectionStatus status, Object... args) { + if (status == AdasConstants.IpcConnectionStatus.CONNECTED) { //连接成功 + if (args != null && args.length > 1) { + ipcConnectedIp = (String) args[0]; + ipcConnectedPort = (int) args[1]; + } + seqSpecialVehicle = 0; + AutopilotAbilityManager.getInstance().start(); + ParallelDrivingManager.getInstance().start(); + startCheckCompatibility(); + updateConnectStatus(status, null); + //更新连接成功状态之后再根据是否认证进行认证检查 + if (adasOptions.isCertification()) { + //启动认证超时 + if (defaultDispatchHandler != null) { + defaultDispatchHandler.start(); + defaultDispatchHandler.postRunnableDelayed(certificationTimeoutRunnable, 5000L); + } + } else { + //不启用认证的时候直接进行数据发送 +// initConfigure();//注释掉统一改成等待域控定频接口存储数据的时候调用 + } + } else { + AutopilotAbilityManager.getInstance().stop(); + ParallelDrivingManager.getInstance().stop(); + AdasManager.getInstance().setCarConfig(null); + stopCheckCompatibility(); + stopDispatchHandler(); + stopCarConfigReq(); + ipcConnectedIp = null; + ipcConnectedPort = Constants.DEFAULT_PORT; + subscribeInterface = null; + usedChassisSource = AdasConstants.ChassisSource.CHASSIS_UNKNOWN; + usedSsmSource = AdasConstants.SsmSource.SSM_UNKNOWN; + receivedAckManager.stop(); + if (connectFinish()) { + stopPingAddress(false); + } + String reason = null; + if (args != null && args.length > 0) { + reason = String.valueOf(args[0]); + } + updateConnectStatus(status, reason); + } } @Override @@ -673,10 +786,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec calculateTimeConsumingOnMessage(nowTime); } - private void notFoundAddress() { - updateConnectStatus(Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS, "地址不可用或不合法"); - } - /** * 根据IP和端口进行连接 * @@ -686,7 +795,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec CupidLogUtils.e(TAG, "要连接的工控机地址=" + address); if (TextUtils.isEmpty(address)) { - notFoundAddress(); + onIllegalAddress(); return; } String tempIp; @@ -694,19 +803,19 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec if (address.contains(":")) { String[] temp = address.split(":"); if (temp.length < 2) { - notFoundAddress(); + onIllegalAddress(); return; } tempIp = temp[0]; try { tempPort = Integer.parseInt(temp[1]); if (tempPort <= 0 || tempPort > 65535) { - notFoundAddress(); + onIllegalAddress(); return; } } catch (NumberFormatException e) { e.printStackTrace(); - notFoundAddress(); + onIllegalAddress(); return; } @@ -715,15 +824,41 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec tempPort = Constants.DEFAULT_PORT; } if (!RegexUtils.isIP(tempIp)) { - notFoundAddress(); + onIllegalAddress(); return; } connectSocket(tempIp, tempPort); } - private OnAdasListener mAdasListener; - //连接状态listener - private final OnAdasConnectStatusListener adasConnectStatusListener; + /** + * 连接失败未成功建立连接且不进行重连 + */ + private boolean connectFinish() { + AdasConstants.IpcConnectionStatus status = getIpcConnectionStatus(); + CupidLogUtils.log(TAG, "连接状态=" + status + " 是否正在重连=" + mSocket.isReconnection()); + if (status == AdasConstants.IpcConnectionStatus.DISCONNECTED) { + return true; + } else { + if (mSocket != null && mSocket.isReconnection()) { + return false; + } else { + return status == AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION || + status == AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS || + status == AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS || + status == AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED || + status == AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED || + (status == AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT) + + ; + } + } + } + + //此状态更新两个作用：1.更改FpgaSocket中的status状态；2.更新对外连接状态 + private void updateConnectStatus(AdasConstants.IpcConnectionStatus status) { + setConnectStatus(status); + updateConnectStatus(status, null); + } /** * 工控机连接状态更新 @@ -732,28 +867,17 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec * @param reason 状态描述 * 如果ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED && reason==null 表示主动断开连接 */ - private void updateConnectStatus(@Define.IPCConnectionStatus int status, @Nullable String reason) { - log(status, reason); - ipcConnectionStatus.set(status); - if (status == Constants.IPC_CONNECTION_STATUS.CONNECTED) { - AutopilotAbilityManager.getInstance().start(); - ParallelDrivingManager.getInstance().start(); - startCheckCompatibility(); - } else { - AutopilotAbilityManager.getInstance().stop(); - ParallelDrivingManager.getInstance().stop(); - stopCheckCompatibility(); - stopCarConfigReq(); - } - if (status == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) { - AdasManager.getInstance().setCarConfig(null); - stopDispatchHandler(); - stopCarConfigReq(); - } + private void updateConnectStatus(AdasConstants.IpcConnectionStatus status, @Nullable String reason) { if (adasConnectStatusListener != null) { - adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason); + adasConnectStatusListener.onConnectionIPCStatus(status, reason); + } + } + + private void setConnectStatus(AdasConstants.IpcConnectionStatus status) { + CupidLogUtils.log("FpgaSocket", "Socket是否存在=" + (mSocket != null) + "设置域控连接状态=" + status); + if (mSocket != null) { + mSocket.setStatus(status); } - CupidLogUtils.i(TAG, "工控机连接状态 status=" + status + " reason=" + reason); } @ChainLog(linkChainLog = CHAIN_TYPE_INIT_STATUS, @@ -812,7 +936,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec @Override public VersionCompatibility getVersionCompatibility() { //判断是否是已连接成功 - if (ipcConnectionStatus.get() == Constants.IPC_CONNECTION_STATUS.CONNECTED) { + if (getIpcConnectionStatus() == AdasConstants.IpcConnectionStatus.CONNECTED) { MessagePad.CarConfigResp carConfigResp = AdasManager.getInstance().getCarConfig(); boolean isCompatibility = false; VersionCompatibility.VersionCompatibilityDegree compatibilityDegree = VersionCompatibility.VersionCompatibilityDegree.INCOMPATIBLE; @@ -847,8 +971,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec } @Override - public int getIpcConnectionStatus() { - return ipcConnectionStatus.get(); + public AdasConstants.IpcConnectionStatus getIpcConnectionStatus() { + if (mSocket != null) return mSocket.getStatus(); + return AdasConstants.IpcConnectionStatus.DISCONNECTED; } @@ -880,7 +1005,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec @Override public void run() { - if (getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) { + if (getIpcConnectionStatus() == AdasConstants.IpcConnectionStatus.CONNECTED) { if (AdasManager.getInstance().getCarConfig() == null) { num++; if (num > 3) { @@ -907,19 +1032,93 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec } /**************************************************************************************************************************/ + + /** + * 设置是否启用超时检测 + * 不会存储 下次启动恢复默认 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + * + * @param isEnable 是否启用 + */ + @Override + public void setEnableTimeoutDetection(boolean isEnable) { + adasOptionsBuild(adasOptionsToBuilder().setEnableTimeoutDetection(isEnable)); + ReceiveTimeoutManager.getInstance().setEnable(isEnable, getIpcConnectionStatus()); + } + + /** + * 设置重连次数 + * -1：不重连 + * 0：无限重连 + * >0：指定重连次数 + * 默认：0 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + * + * @param reconnectCount 次数 + */ + @Override + public void setReconnectCount(int reconnectCount) { + adasOptionsBuild(adasOptionsToBuilder().setReconnectCount(reconnectCount)); + if (pingAddressHelper != null) { + pingAddressHelper.setReconnectCount(reconnectCount); + } + if (!adasOptions.isPassenger() && mSocket != null) { + mSocket.setReconnectCount(reconnectCount); + } + } + + /** + * 是否启用SSL认证 + * 目前默认禁用 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + */ + @Override + public void setEnableCertification(boolean enable) { + adasOptionsBuild(adasOptionsToBuilder().setEnableCertification(enable)); + } + + /** + * ROOT证书 + * 启用认证必须传 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + * + * @param rootCrt root证书 + */ + @Override + public void setRootCrt(String rootCrt) { + adasOptionsBuild(adasOptionsToBuilder().setRootCrt(rootCrt)); + } + + /** + * 自动连接 + * 不会存储 下次启动恢复默认 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + * + * @param enable 是否启用 + */ + @Override + public void setAutoConnect(boolean enable) { + adasOptionsBuild(adasOptionsToBuilder().setAutoConnect(enable)); + } + + @Override + public void setUnableLaunchAutopilotGear(Set unableLaunchAutopilotGear) { + AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear); + } + /** * 自动驾驶设备基础信息应答 * - * @param sn SN - * @param environment 环境 详情参见{@link Constants.ENVIRONMENT}1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境 - * @param role 终端角色 详情参见{@link Constants.TERMINAL_ROLE} - * @param versionCode 鹰眼版本号 - * @param versionName 鹰眼版本名 - * @param certification 鹰眼ssl证书 + * @param sn SN + * @param environment 环境 详情参见{@link Constants.ENVIRONMENT}1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境 + * @param role 终端角色 详情参见{@link Constants.TERMINAL_ROLE} + * @param versionCode 鹰眼版本号 + * @param versionName 鹰眼版本名 + * @param deviceCrt 鹰眼ssl证书 * @return boolean */ @Override - public boolean sendBasicInfoResp(@NonNull String sn, @Define.Environment int environment, @Define.TerminalRole int role, int versionCode, String versionName, byte[] certification) { + public boolean sendBasicInfoResp(@NonNull String sn, @Define.Environment int environment, @Define.TerminalRole int role, int versionCode, String versionName, String deviceCrt) { if (sn == null) { sn = ""; } @@ -941,8 +1140,11 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec if (!TextUtils.isEmpty(version)) { builder.setVersion(version); } - if (certification != null && certification.length > 0) { - builder.setCertification(com.google.protobuf.ByteString.copyFrom(certification)); + if (deviceCrt != null && deviceCrt.length() > 0) { + com.google.protobuf.ByteString crt = CertificateUtils.encode(deviceCrt); + if (crt != null) { + builder.setCertification(crt); + } } MessagePad.BasicInfoResp resp = builder.build(); return sendPBMessage(MessageType.TYPE_SEND_BASIC_INFO_RESP, resp.toByteArray()); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java index 20eac1a63d..967e63a522 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java @@ -61,7 +61,6 @@ public class AdasManager implements IAdasNetCommApi { private final Pattern pattern = Pattern.compile("\\d+\\.\\d+\\.\\d+"); private AdasChannel mChannel; - private Context context;//不持有，create之后会置null public static AdasManager getInstance() { if (ourInstance == null) { @@ -109,12 +108,11 @@ public class AdasManager implements IAdasNetCommApi { /** * 初始化 - * TODO 必须在调用任意方法之前初始化 + * TODO 必须在调用使用到MMK相关的方法之前初始化 * * @param context */ public void init(Context context) { - this.context = context; MMKVUtils.getInstance().init(context); } @@ -124,14 +122,13 @@ public class AdasManager implements IAdasNetCommApi { * @param options 连接参数 * @param onAdasConnectStatusListener 连接状态监听 */ - public synchronized void create(AdasOptions options, OnAdasConnectStatusListener onAdasConnectStatusListener) { + public synchronized void create(Context context, AdasOptions options, OnAdasConnectStatusListener onAdasConnectStatusListener) { if (mChannel != null) { mChannel.disconnect(); carConfig = null; mChannel = null; } mChannel = new AdasChannel(context, options, onAdasConnectStatusListener); - context = null; } /** @@ -182,17 +179,24 @@ public class AdasManager implements IAdasNetCommApi { } } + @Override + public void setAdasOptions(AdasOptions options) { + if (mChannel != null) { + mChannel.setAdasOptions(options); + } + } + /** * 获取当前工控机的链接状态 * - * @return {@link Constants.IPC_CONNECTION_STATUS} + * @return {@link AdasConstants.IpcConnectionStatus} */ @Override - public int getIpcConnectionStatus() { + public AdasConstants.IpcConnectionStatus getIpcConnectionStatus() { if (mChannel != null) { return mChannel.getIpcConnectionStatus(); } - return Constants.IPC_CONNECTION_STATUS.DISCONNECTED; + return AdasConstants.IpcConnectionStatus.DISCONNECTED; } @@ -267,7 +271,7 @@ public class AdasManager implements IAdasNetCommApi { /** * 获取工控机链接配置 * - * @return 工控机链接参数 + * @return 工控机链接参数，如果未调用create 返回null */ @Override public AdasOptions getAdasOptions() { @@ -314,16 +318,6 @@ public class AdasManager implements IAdasNetCommApi { return mChannel == null ? AdasConstants.SsmSource.SSM_UNKNOWN : mChannel.getUsedSsmSource(); } - /** - * 设置不能启动自动驾驶的档位 - * - * @param unableLaunchAutopilotGear 不能起自驾档位 - */ - @Override - public void setUnableLaunchAutopilotGear(Set unableLaunchAutopilotGear) { - AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear); - } - /** * 自动驾驶设备基础信息应答 * @@ -353,30 +347,30 @@ public class AdasManager implements IAdasNetCommApi { /** * 自动驾驶设备基础信息应答 * - * @param sn SN - * @param environment 环境 详情参见{@link Constants.ENVIRONMENT}1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境 - * @param role 终端角色 详情参见{@link Constants.TERMINAL_ROLE} - * @param certification 鹰眼ssl证书 + * @param sn SN + * @param environment 环境 详情参见{@link Constants.ENVIRONMENT}1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境 + * @param role 终端角色 详情参见{@link Constants.TERMINAL_ROLE} + * @param deviceCrt 鹰眼ssl证书 * @return boolean */ - public boolean sendBasicInfoResp(@NonNull String sn, @Define.Environment int environment, @Define.TerminalRole int role, byte[] certification) { - return sendBasicInfoResp(sn, environment, role, -1, null, certification); + public boolean sendBasicInfoResp(@NonNull String sn, @Define.Environment int environment, @Define.TerminalRole int role, String deviceCrt) { + return sendBasicInfoResp(sn, environment, role, -1, null, deviceCrt); } /** * 自动驾驶设备基础信息应答 * - * @param sn SN - * @param environment 环境 详情参见{@link Constants.ENVIRONMENT}1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境 - * @param role 终端角色 详情参见{@link Constants.TERMINAL_ROLE} - * @param versionCode 鹰眼版本号 - * @param versionName 鹰眼版本名 - * @param certification 鹰眼ssl证书 + * @param sn SN + * @param environment 环境 详情参见{@link Constants.ENVIRONMENT}1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境 + * @param role 终端角色 详情参见{@link Constants.TERMINAL_ROLE} + * @param versionCode 鹰眼版本号 + * @param versionName 鹰眼版本名 + * @param deviceCrt 鹰眼ssl证书 * @return boolean */ @Override - public boolean sendBasicInfoResp(@NonNull String sn, @Define.Environment int environment, @Define.TerminalRole int role, int versionCode, String versionName, byte[] certification) { - return mChannel != null && mChannel.sendBasicInfoResp(sn, environment, role, versionCode, versionName, certification); + public boolean sendBasicInfoResp(@NonNull String sn, @Define.Environment int environment, @Define.TerminalRole int role, int versionCode, String versionName, String deviceCrt) { + return mChannel != null && mChannel.sendBasicInfoResp(sn, environment, role, versionCode, versionName, deviceCrt); } /** @@ -1325,37 +1319,37 @@ public class AdasManager implements IAdasNetCommApi { } /** - * 获取工控机固定IP列表 + * 获取域控PING 地址列表 * * @return 返回默认工控机IP列表 */ - public HashSet getIPCFixationIPList() { - return Constants.getIPCFixationIPList(); + public HashSet getPingAddressList() { + return Constants.getPingAddressList(); } /** * 增加工控机固定IP * - * @param ipcIP IP + * @param address IP */ - public boolean addIPCFixationIP(String ipcIP) { - return Constants.addIPCFixationIP(ipcIP); + public boolean addPingAddressList(String address) { + return Constants.addPingAddressList(address); } /** * 删除指定的工控机固定IP * - * @param ipcIP IP + * @param address IP */ - public boolean delIPCFixationIP(String ipcIP) { - return Constants.delIPCFixationIP(ipcIP); + public boolean delPingAddressList(String address) { + return Constants.delPingAddressList(address); } /** * 删除所有工控机固定IP */ - public void delIPCFixationIP() { - Constants.delIPCFixationIP(); + public void delPingAddressList() { + Constants.delPingAddressList(); } @@ -1372,11 +1366,82 @@ public class AdasManager implements IAdasNetCommApi { /** * 设置是否启用超时检测 * 不会存储 下次启动恢复默认 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 * * @param isEnable 是否启用 */ + @Override public void setEnableTimeoutDetection(boolean isEnable) { - ReceiveTimeoutManager.getInstance().setEnable(isEnable, getIpcConnectionStatus()); + if (mChannel != null) { + mChannel.setEnableTimeoutDetection(isEnable); + } + } + + /** + * 设置重连次数 + * -1：不重连 + * 0：无限重连 + * >0：指定重连次数 + * 默认：0 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + * + * @param reconnectCount 次数 + */ + @Override + public void setReconnectCount(int reconnectCount) { + if (mChannel != null) { + mChannel.setReconnectCount(reconnectCount); + } + } + + /** + * 是否启用SSL认证 + * 目前默认禁用 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + */ + @Override + public void setEnableCertification(boolean enable) { + if (mChannel != null) { + mChannel.setEnableCertification(enable); + } + } + + /** + * ROOT证书 + * 启用认证必须传 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + * + * @param rootCrt root证书 + */ + @Override + public void setRootCrt(String rootCrt) { + if (mChannel != null) { + mChannel.setRootCrt(rootCrt); + } + } + + /** + * 自动连接 + * 不会存储 下次启动恢复默认 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + * + * @param enable 是否启用 + */ + @Override + public void setAutoConnect(boolean enable) { + if (mChannel != null) { + mChannel.setAutoConnect(enable); + } + } + + /** + * 设置不能启动自动驾驶的档位 + * + * @param unableLaunchAutopilotGear 不能起自驾档位 + */ + @Override + public void setUnableLaunchAutopilotGear(Set unableLaunchAutopilotGear) { + AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear); } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java index 5f75d8a515..a9e58b9750 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java @@ -41,12 +41,14 @@ public interface IAdasNetCommApi { void disconnect(); + void setAdasOptions(AdasOptions options); + /** * 获取当前工控机的链接状态 * - * @return {@link Constants.IPC_CONNECTION_STATUS} + * @return {@link AdasConstants.IpcConnectionStatus} */ - int getIpcConnectionStatus(); + AdasConstants.IpcConnectionStatus getIpcConnectionStatus(); /** * 获取工控机链接配置 @@ -84,6 +86,52 @@ public interface IAdasNetCommApi { */ AdasConstants.SsmSource getUsedSsmSource(); + /** + * 设置是否启用超时检测 + * 不会存储 下次启动恢复默认 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + * + * @param isEnable 是否启用 + */ + void setEnableTimeoutDetection(boolean isEnable); + + /** + * 设置重连次数 + * -1：不重连 + * 0：无限重连 + * >0：指定重连次数 + * 默认：0 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + * + * @param reconnectCount 次数 + */ + void setReconnectCount(int reconnectCount); + + /** + * 是否启用SSL认证 + * 目前默认禁用 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + */ + void setEnableCertification(boolean enable); + + /** + * ROOT证书 + * 启用认证必须传 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + * + * @param rootCrt root证书 + */ + void setRootCrt(String rootCrt); + + /** + * 自动连接 + * 不会存储 下次启动恢复默认 + * 每次调用create之后需要重新设置才能生效，或者在AdasOptions中设置 + * + * @param enable 是否启用 + */ + void setAutoConnect(boolean enable); + /** * 设置不能启动自动驾驶的档位 * @@ -94,15 +142,16 @@ public interface IAdasNetCommApi { /** * 自动驾驶设备基础信息应答 * - * @param sn SN - * @param environment 环境 详情参见{@link Constants.ENVIRONMENT}1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境 - * @param role 终端角色 详情参见{@link Constants.TERMINAL_ROLE} - * @param versionCode 鹰眼版本号 - * @param versionName 鹰眼版本名 - * @param certification 鹰眼ssl证书 + * @param sn SN + * @param environment 环境 详情参见{@link Constants.ENVIRONMENT}1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境 + * @param role 终端角色 详情参见{@link Constants.TERMINAL_ROLE} + * @param versionCode 鹰眼版本号 + * @param versionName 鹰眼版本名 + * @param deviceCrt 鹰眼ssl证书 * @return boolean */ - boolean sendBasicInfoResp(@NonNull String sn, @Define.Environment int environment, @Define.TerminalRole int role, int versionCode, String versionName, byte[] certification); + boolean sendBasicInfoResp(@NonNull String sn, @Define.Environment int environment, @Define.TerminalRole int role, int versionCode, String versionName, String deviceCrt); + /** * 设置自动驾驶模式 启动自动驾驶 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasConnectStatusListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasConnectStatusListener.java index 76a7478ccb..049c670a63 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasConnectStatusListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasConnectStatusListener.java @@ -3,8 +3,7 @@ package com.zhidao.support.adas.high; import androidx.annotation.Nullable; import com.zhidao.support.adas.high.bean.VersionCompatibility; -import com.zhidao.support.adas.high.common.Constants; -import com.zhidao.support.adas.high.common.Define; +import com.zhjt.mogo.adas.data.AdasConstants; /** * @author nie yunlong @@ -16,11 +15,13 @@ public interface OnAdasConnectStatusListener { /** * 与工控机链接状态变化 * - * @param ipcConnectionStatus {@link Constants.IPC_CONNECTION_STATUS} - * @param reason 连接信息 需要判null - * 如果ipcConnectionStatus==Constants.IPC_CONNECTION_STATUS.DISCONNECTED&&reason==null 表示主动断开连接 + * @param status {@link AdasConstants.IpcConnectionStatus} + * @param reason 连接信息（需要判null）,目前只有以下参数存在值，其他全部为null + * {@link AdasConstants.IpcConnectionStatus#HEARTBEAT_TIMEOUT} 表示超时时间 + * {@link AdasConstants.IpcConnectionStatus#CONNECT_EXCEPTION} 表示连接异常原因 + * {@link AdasConstants.IpcConnectionStatus#SERVER_DISCONNECTED} 服务端断开（如果服务端关闭时发送了原因将存在，如果服务端关闭时未发送将为null） */ - void onConnectionIPCStatus(@Define.IPCConnectionStatus int ipcConnectionStatus, @Nullable String reason); + void onConnectionIPCStatus(AdasConstants.IpcConnectionStatus status, @Nullable String reason); /** * 与工控机版本的兼容性 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java index 1f405257a4..0df1484163 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java @@ -147,11 +147,14 @@ public interface OnAdasListener { /** * 自动驾驶设备基础信息请求 + * 连接时启用认证 后才会有认证结果 + * ROOT证书异常会影响校验域控证书 + * PAD证书异常会影响域控端校验的证书校验，域控端证书校验失败将会断开连接，且并不会给出断开原因，ADAS LIB会执行重连操作（如果配置启用重连） + * 校验域控证书认证失败会主动断开连接，且不进行重连 * - * @param header 头 - * @param basicInfoReq 数据 目前没有任何参数 + * @param status 域控证书认证结果{@link AdasConstants.CertificationStatus} */ - void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq); + void onBasicInfoReq(@NonNull AdasConstants.CertificationStatus status); /** * 车机基础信息应答 diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/CertificateUtils.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/CertificateUtils.java new file mode 100644 index 0000000000..8741bbcde2 --- /dev/null +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/CertificateUtils.java @@ -0,0 +1,121 @@ +package com.zhidao.support.adas.high.common; + +import android.text.TextUtils; +import android.util.Log; + +import androidx.annotation.NonNull; + +import com.google.protobuf.ByteString; + +import java.io.ByteArrayInputStream; +import java.security.cert.CertPath; +import java.security.cert.CertPathValidator; +import java.security.cert.CertificateFactory; +import java.security.cert.PKIXParameters; +import java.security.cert.TrustAnchor; +import java.security.cert.X509Certificate; +import java.util.Collections; + +/** + * 证书工具类 + *

+ * 认证过程： + * 连接成功后域控发送带证书的MsgTypeBasicInfoReq请求接口 + * PAD收到后做证书校验 + * PAD校验失败断开连接 + * PAD校验成功PAD发送带证书的MsgTypeBasicInfoResp响应接口 + * 域控检验PAD证书 + * 域控校验失败会断开连接 + * 域控校验成功后会发送定频数据 + * 此时PAD收到定频数据可以认为证书校校验完成且成功，可以发送配置请求数据 + */ +public class CertificateUtils { + private final static char S = 25; + + /** + * 编码 + * + * @param crt 证书 + * @return 编码后的证书 + */ + public static ByteString encode(@NonNull String crt) { + if (TextUtils.isEmpty(crt)) return null; + char line = 0; + crt = crt.replace("-----BEGIN CERTIFICATE-----\n", "").replace("-----END CERTIFICATE-----", ""); + byte[] chars = new byte[crt.length()]; + for (int i = 0; i < crt.length(); i++) { + char c = crt.charAt(i); + if (c != '\n') { + c += S + line; + } else { + line++; + } + chars[i] = (byte) (c & 0xFF); + } + return ByteString.copyFrom(chars); + } + + + /** + * 解码 + * + * @param crt 证书 + * @return 解码后的证书 + */ + public static String decode(@NonNull ByteString crt) { + if (crt.isEmpty()) { + return null; + } + int line = 0; + StringBuilder builder = new StringBuilder(); + builder.append("-----BEGIN CERTIFICATE-----\n"); + int size = crt.size(); + for (int i = 0; i < size; i++) { + int unsignedInt = crt.byteAt(i) & 0xFF; + char c = (char) unsignedInt; + if (c != '\n') { + c -= S + line; + } else { + line++; + } + builder.append(c); + } + builder.append("-----END CERTIFICATE-----"); + return builder.toString(); + } + + /** + * 证书链校验 + * TODO 证书格式必须严格遵循 PEM格式 每 64 个字符后添加一个换行符，否则将会验证失败 + * + * @param rootCert 根证书 + * @param deviceCert 设备证书 + * @return 证书链校验是否成功 + */ + public static boolean certificateChainValidation(@NonNull String rootCert, @NonNull String deviceCert) { + try { + // 转换字符串为X.509证书对象 + CertificateFactory certificateFactory = CertificateFactory.getInstance("X.509"); + X509Certificate rootCertificate = (X509Certificate) certificateFactory.generateCertificate( + new ByteArrayInputStream(rootCert.getBytes())); + X509Certificate deviceCertificate = (X509Certificate) certificateFactory.generateCertificate( + new ByteArrayInputStream(deviceCert.getBytes())); + // 创建CertPath对象并将中间证书添加到CertPath中 + CertPath certPath = certificateFactory.generateCertPath(Collections.singletonList(deviceCertificate)); + // 创建CertPathValidator + CertPathValidator certPathValidator = CertPathValidator.getInstance("PKIX"); + // 创建TrustAnchor（包含根证书） + TrustAnchor trustAnchor = new TrustAnchor(rootCertificate, null); + // 创建PKIXParameters并设置TrustAnchor + PKIXParameters pkixParameters = new PKIXParameters(Collections.singleton(trustAnchor)); + // 禁用证书吊销检查（目前所用的证书不是完全标准的PKI） + pkixParameters.setRevocationEnabled(false); + // 使用CertPathValidator验证证书链 + certPathValidator.validate(certPath, pkixParameters); + return true; + } catch (Exception e) { + Log.e("[tag=CertificateUtils]", "[data=证书链校验失败]", e); + } + return false; + } +} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java index 68772d15fb..c7476405e9 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java @@ -34,30 +34,9 @@ public class Constants { */ public static final byte[] RAW_MG = new byte[]{(byte) 0x6d, 0x67}; - public static final String DEFAULT_IPC_FIXATION_IP = "[\"192.168.1.102\", \"192.168.8.102\"]"; + public static final String DEFAULT_PING_ADDRESS_LIST = "[\"192.168.1.102\", \"192.168.8.102\"]"; + - public interface IPC_CONNECTION_STATUS { - /** - * 已连接 - */ - int CONNECTED = 0x00; - /** - * 未连接 - */ - int DISCONNECTED = 0x01; - /** - * 正在连接 - */ - int CONNECTING = 0x02; - /** - * 正在搜索IP - */ - int SEARCH_ADDRESS = 0x03; - /** - * 找不到可用IP 传入的IP不可用或固定IP列表中所有IP不可用 - */ - int NOT_FOUND_ADDRESS = 0x04; - } /** * 终端角色类型 @@ -139,9 +118,9 @@ public class Constants { private static HashSet ipcFixationIPSet;//工控机固定IP列表 - public static HashSet getIPCFixationIPList() { + public static HashSet getPingAddressList() { if (ipcFixationIPSet == null || ipcFixationIPSet.isEmpty()) { - String json = MMKVUtils.getInstance().getString("ipc_fixation_ip", Constants.DEFAULT_IPC_FIXATION_IP); + String json = MMKVUtils.getInstance().getString("ping_address_list", Constants.DEFAULT_PING_ADDRESS_LIST); ipcFixationIPSet = JsonUtil.fromJson(json, new TypeToken>() { }.getType()); @@ -149,30 +128,30 @@ public class Constants { return ipcFixationIPSet; } - public static boolean addIPCFixationIP(String ipcIP) { + public static boolean addPingAddressList(String address) { if (ipcFixationIPSet == null) { - getIPCFixationIPList(); + getPingAddressList(); } if (ipcFixationIPSet == null) { ipcFixationIPSet = new HashSet<>(); } - if (!ipcFixationIPSet.contains(ipcIP)) { - ipcFixationIPSet.add(ipcIP); - return MMKVUtils.getInstance().put("ipc_fixation_ip", JsonUtil.toJson(ipcFixationIPSet)); + if (!ipcFixationIPSet.contains(address)) { + ipcFixationIPSet.add(address); + return MMKVUtils.getInstance().put("ping_address_list", JsonUtil.toJson(ipcFixationIPSet)); } return false; } - public static boolean delIPCFixationIP(String ipcIP) { - if (ipcFixationIPSet != null && ipcFixationIPSet.contains(ipcIP)) { - ipcFixationIPSet.remove(ipcIP); - return MMKVUtils.getInstance().put("ipc_fixation_ip", JsonUtil.toJson(ipcFixationIPSet)); + public static boolean delPingAddressList(String address) { + if (ipcFixationIPSet != null && ipcFixationIPSet.contains(address)) { + ipcFixationIPSet.remove(address); + return MMKVUtils.getInstance().put("ping_address_list", JsonUtil.toJson(ipcFixationIPSet)); } return false; } - public static void delIPCFixationIP() { - MMKVUtils.getInstance().removeKey("ipc_fixation_ip"); + public static void delPingAddressList() { + MMKVUtils.getInstance().removeKey("ping_address_list"); } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java index c714a935a5..82c904ec32 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java @@ -10,15 +10,6 @@ import java.lang.annotation.RetentionPolicy; public final class Define { - @IntDef(flag = true, value = {Constants.IPC_CONNECTION_STATUS.CONNECTED, - Constants.IPC_CONNECTION_STATUS.DISCONNECTED, - Constants.IPC_CONNECTION_STATUS.CONNECTING, - Constants.IPC_CONNECTION_STATUS.SEARCH_ADDRESS, - Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS}) - @Retention(RetentionPolicy.SOURCE) - public @interface IPCConnectionStatus { - } - @IntDef(flag = true, value = {VersionCompatibility.VERSION_COMPATIBILITY_DEGREE.INCOMPATIBLE, VersionCompatibility.VERSION_COMPATIBILITY_DEGREE.COMPATIBILITY, diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java index 688392075c..7da3cc696f 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java @@ -5,6 +5,7 @@ import android.util.Log; import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.OnAdasListener; +import com.zhjt.mogo.adas.data.AdasConstants; import java.util.Timer; import java.util.TimerTask; @@ -167,7 +168,7 @@ public class ParallelDrivingManager { bootTimer.schedule(new TimerTask() { @Override public void run() { - if (mapVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) { + if (mapVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == AdasConstants.IpcConnectionStatus.CONNECTED) { mapVersion = 30600;//获取 CarConfig获取失败就认为是Taxi版本大于等于360 isDF = true; startCallback(); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/IPCFixationIPHelper.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PingAddressHelper.java similarity index 52% rename from libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/IPCFixationIPHelper.java rename to libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PingAddressHelper.java index e50f1ee814..1a2ce0365e 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/IPCFixationIPHelper.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PingAddressHelper.java @@ -1,5 +1,9 @@ package com.zhidao.support.adas.high.common; +import androidx.annotation.NonNull; + +import com.zhidao.support.adas.high.AdasOptions; + import java.io.BufferedReader; import java.io.IOException; import java.io.InputStream; @@ -14,33 +18,36 @@ import java.util.concurrent.atomic.AtomicBoolean; import java.util.concurrent.atomic.AtomicInteger; /** - * 工控机固定IP查询 + * PING 连接方式帮助类 + * 根据提供的地址进行ping连通性检测 */ -public class IPCFixationIPHelper { - private static final String TAG = IPCFixationIPHelper.class.getSimpleName(); - private final IIPCFixationIPListener listener; - private final List futures = new ArrayList<>(); +public class PingAddressHelper { + private static final String TAG = PingAddressHelper.class.getSimpleName(); + private final IPingAddressListener listener; + private final List> futures = new ArrayList<>(); private final AtomicBoolean isCallListener = new AtomicBoolean(false);//是否已经调用了回调 private final AtomicInteger unavailableCount = new AtomicInteger(0);//不可用IP个数 private volatile int queryCount;//要查询的IP个数 private Timer retryTimer; + private final AtomicBoolean isEnableReconnect = new AtomicBoolean(true);//是否启用重连机制 + private int reconnectCount = AdasOptions.DEFAULT.RECONNECT_COUNT;//是否启用重连机制 + private int currentCount = 0;//重连次数 - public IPCFixationIPHelper(IIPCFixationIPListener listener) { - if (listener == null) - throw new RuntimeException("工控机固定IP查询回调不能为空"); - this.listener = listener; - } - - public interface IIPCFixationIPListener { + public interface IPingAddressListener { /** * 开始查找可用IP */ void onStartFindIP(); + /** + * 非法地址 + */ + void onIllegalAddress(); + /** * 主动停止 */ - void onStopFindIP(); + void onStopFindIP(boolean isCall); /** * 轮询结果可连通的IP @@ -50,10 +57,18 @@ public class IPCFixationIPHelper { void onAvailableIP(String ip); } + public PingAddressHelper(@NonNull IPingAddressListener listener) { + this.listener = listener; + } + + public synchronized void setReconnectCount(int count) { + reconnectCount = count; + } + private boolean interrupted() { boolean isEm = futures.isEmpty(); if (!isEm) { - for (Future future : futures) { + for (Future future : futures) { if (!future.isCancelled()) { future.cancel(true); } @@ -63,14 +78,24 @@ public class IPCFixationIPHelper { return isEm; } - public void stop() { + private boolean isNeedReconnect() { + if (reconnectCount == -1) { + return false; + } else if (reconnectCount == 0) { + return true; + } else { + return currentCount < reconnectCount; + } + } + + public void stop(boolean isCall) { if (retryTimer != null) { retryTimer.cancel(); retryTimer = null; } isCallListener.set(true); if (!interrupted()) { - listener.onStopFindIP(); + listener.onStopFindIP(isCall); } } @@ -78,55 +103,74 @@ public class IPCFixationIPHelper { * 开始根据固定IP列表惊醒PING 方式查找可用工控机 */ public void start(final HashSet ips) { - listener.onStartFindIP(); - if (retryTimer != null) { - retryTimer.cancel(); - retryTimer = null; - } + currentCount = 0; + startFind(ips); + } + + private void startFind(final HashSet ips) { if (ips == null || ips.isEmpty()) { - listener.onAvailableIP(null); + listener.onIllegalAddress(); } else { + currentCount++; + listener.onStartFindIP(); + if (retryTimer != null) { + retryTimer.cancel(); + retryTimer = null; + } interrupted(); queryCount = ips.size(); unavailableCount.set(0); isCallListener.set(false); for (final String temp : ips) { - Runnable runnable = () -> { - CupidLogUtils.i(TAG, "ip=" + temp); - boolean isAvailable = ping(temp); - if (isAvailable) { - if (!isCallListener.get() && !Thread.currentThread().isInterrupted()) { - isCallListener.set(true); - listener.onAvailableIP(temp); - CupidLogUtils.i(TAG, "可用IP=" + temp); - interrupted(); + Runnable runnable = new Runnable() { + @Override + public void run() { + CupidLogUtils.i(TAG, "ip=" + temp); + boolean isAvailable = ping(temp); + if (isAvailable) { + if (!isCallListener.get() && !Thread.currentThread().isInterrupted()) { + isCallListener.set(true); + listener.onAvailableIP(temp); + CupidLogUtils.i(TAG, "可用IP=" + temp); + interrupted(); + } + } else { + allNotAvailable(ips); } - } else { - allNotAvailable(ips); } }; - Future future = ThreadPoolManager.getsInstance().submit(runnable); + Future future = ThreadPoolManager.getsInstance().submit(runnable); futures.add(future); } } } + /** + * 所有地址均无法PING通 + * + * @param ips 地址 + */ private synchronized void allNotAvailable(final HashSet ips) { if (queryCount == unavailableCount.incrementAndGet()) { if (!isCallListener.get()) { isCallListener.set(true); listener.onAvailableIP(null); CupidLogUtils.i(TAG, "所有IP均不可用"); - //当配置中的所有IP都ping不通时，需要继续ping - if (retryTimer == null) { - retryTimer = new Timer(); - retryTimer.schedule(new TimerTask() { - @Override - public void run() { - start(ips); - } - }, 4 * 1000L);//延时 + if (isNeedReconnect()) { + //当配置中的所有IP都ping不通时，需要继续ping + if (retryTimer == null) { + retryTimer = new Timer(); + retryTimer.schedule(new TimerTask() { + @Override + public void run() { + startFind(ips); + } + }, 4 * 1000L);//延时 + } + } else { + stop(false); } + } } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java index 6bfdc5931e..f530876555 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java @@ -1,5 +1,7 @@ package com.zhidao.support.adas.high.common; +import com.zhjt.mogo.adas.data.AdasConstants; + import java.util.Timer; import java.util.TimerTask; import java.util.concurrent.atomic.AtomicBoolean; @@ -52,11 +54,11 @@ public class ReceiveTimeoutManager { * @param isEnable 是否启用超时检测 * @param ipcConnectionStatus 当前连接状态 */ - public void setEnable(boolean isEnable, @Define.IPCConnectionStatus int ipcConnectionStatus) { + public void setEnable(boolean isEnable, AdasConstants.IpcConnectionStatus ipcConnectionStatus) { this.isEnable.set(isEnable); //如果启动并且当前已连接 if (this.isEnable.get()) { - if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) + if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) start(); } else { stop(); diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReconnectManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReconnectManager.java index 421bafa95b..18c937617c 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReconnectManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReconnectManager.java @@ -3,13 +3,16 @@ package com.zhidao.support.adas.high.common; import android.content.Context; import android.net.ConnectivityManager; import android.net.Network; +import android.net.NetworkInfo; import android.net.NetworkRequest; import android.os.Build; -import android.util.Log; import androidx.annotation.NonNull; import androidx.annotation.RequiresApi; +import com.zhidao.support.adas.high.AdasOptions; +import com.zhjt.mogo.adas.data.AdasConstants; + import java.util.Timer; import java.util.TimerTask; import java.util.concurrent.atomic.AtomicBoolean; @@ -20,18 +23,21 @@ import java.util.concurrent.atomic.AtomicBoolean; public class ReconnectManager { private static final String TAG = ReconnectManager.class.getSimpleName(); private static final long RECONNECT_INTERVAL = 4 * 1000L;//重连间隔 - private final AtomicBoolean isReconnection = new AtomicBoolean(false);//是否正在重连 + private final AtomicBoolean isReconnection = new AtomicBoolean(false);//是否已经启动重连流程 private final OnReconnectListener listener; private volatile Timer timer; private final Context context; - private final AtomicBoolean isRegisterNetworkCallback = new AtomicBoolean(false); + private volatile ConnectivityManager connectivityManager; + + private int reconnectCount = AdasOptions.DEFAULT.RECONNECT_COUNT;//是否启用重连机制 + private int currentCount = 0;//重连次数 public interface OnReconnectListener { - void onReconnection(String tag); + void onReconnection(AdasConstants.IpcConnectionStatus status); } - public ReconnectManager(Context context, OnReconnectListener listener) { + public ReconnectManager(Context context, @NonNull OnReconnectListener listener) { this.context = context; this.listener = listener; } @@ -43,39 +49,74 @@ public class ReconnectManager { return isReconnection.get(); } + public void setReconnectCount(int reconnectCount) { + this.reconnectCount = reconnectCount; + CupidLogUtils.log(TAG, "是否启动自动重连=" + reconnectCount); + if (!isNeedReconnect()) { + stop(true); + } + } + /** + * @return 是否需要重连 + */ + private boolean isNeedReconnect() { + if (reconnectCount == -1) { + return false; + } else if (reconnectCount == 0) { + return true; + } else { + return currentCount < reconnectCount; + } + } + + private void callOnReconnection(AdasConstants.IpcConnectionStatus status) { + if (isNeedReconnect()) { + currentCount++; + listener.onReconnection(status); + } else { + stop(true); + } + } + + /** + * 启动重连 + */ public synchronized void start() { - if (!isReconnection.get()) { - CupidLogUtils.i(TAG, "开始重连"); - isReconnection.set(true); - if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.LOLLIPOP) { - ConnectivityManager connMgr = (ConnectivityManager) context.getSystemService(Context.CONNECTIVITY_SERVICE); - NetworkRequest networkRequest = new NetworkRequest.Builder().build(); - connMgr.registerNetworkCallback(networkRequest, networkCallback); - isRegisterNetworkCallback.set(true); - } - if (timer == null) { - timer = new Timer(); - timer.schedule(new TimerTask() { - @Override - public void run() { - if (isReconnection.get()) { - if (listener != null) - listener.onReconnection("定时器"); + if (isNeedReconnect()) { + if (!isReconnection.get()) { + CupidLogUtils.log(TAG, "开始重连"); + isReconnection.set(true); + if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.LOLLIPOP && connectivityManager == null) { + connectivityManager = (ConnectivityManager) context.getSystemService(Context.CONNECTIVITY_SERVICE); + NetworkRequest networkRequest = new NetworkRequest.Builder().build(); + connectivityManager.registerNetworkCallback(networkRequest, networkCallback); + } + if (timer == null) { + timer = new Timer(); + timer.schedule(new TimerTask() { + @Override + public void run() { + if (isNeedReconnect()) { + callOnReconnection(AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER); + } else { + stop(true); + } } - } - }, 0, RECONNECT_INTERVAL);//延时 + }, RECONNECT_INTERVAL, RECONNECT_INTERVAL);//延时 + } } } } - public synchronized void stop() { - CupidLogUtils.i(TAG, "停止重连"); + public synchronized void stop(boolean isResetCurrentCount) { + CupidLogUtils.log(TAG, "停止重连"); isReconnection.set(false); - if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.LOLLIPOP && isRegisterNetworkCallback.get()) { - ConnectivityManager connMgr = (ConnectivityManager) context.getSystemService(Context.CONNECTIVITY_SERVICE); - connMgr.unregisterNetworkCallback(networkCallback); - isRegisterNetworkCallback.set(false); + if (isResetCurrentCount) { + currentCount = 0; + } + if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.LOLLIPOP && connectivityManager != null) { + connectivityManager.unregisterNetworkCallback(networkCallback); } if (timer != null) { timer.cancel(); @@ -88,10 +129,21 @@ public class ReconnectManager { @Override public void onAvailable(@NonNull Network network) { super.onAvailable(network); - Log.i(TAG, "网络连接成功"); - if (listener != null) - listener.onReconnection("网络监听"); + CupidLogUtils.log(TAG, "网络连接成功"); + if (isReconnection.get() && !isNetworkConnected()) { + callOnReconnection(AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK); + } } }; + //判断网络是否连接 + private Boolean isNetworkConnected() { + if (connectivityManager != null) { + NetworkInfo mNetworkInfo = connectivityManager.getActiveNetworkInfo(); + if (mNetworkInfo != null) { + return mNetworkInfo.isAvailable(); + } + } + return false; + } } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java index 932d456523..69e8ca841f 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java @@ -2,15 +2,14 @@ package com.zhidao.support.adas.high.common.autopilot.ability; import android.os.Handler; import android.os.Message; -import android.util.Log; import androidx.annotation.NonNull; import androidx.annotation.Nullable; import com.zhidao.support.adas.high.AdasManager; import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.Constants; import com.zhidao.support.adas.high.common.CupidLogUtils; +import com.zhjt.mogo.adas.data.AdasConstants; import com.zhjt.mogo.adas.data.bean.UnableLaunchData; import com.zhjt.mogo.adas.data.bean.UnableLaunchReason; @@ -273,7 +272,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA private void initAutopilotAbility() { if (mapVersion >= 30600 && isFutianSweeper) { - Log.i(TAG, "能否启动自驾能力检测使用版本：360清扫车专用"); + CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：360清扫车专用"); stop230(); stop250(); stop330(); @@ -284,7 +283,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA } } else if ((mapVersion >= 30500 && (isJinlvM1 || isHQ)) || mapVersion >= 30600) { - Log.i(TAG, "能否启动自驾能力检测使用版本：350和360共用"); + CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：350和360共用"); stop230(); stop250(); stop330(); @@ -295,7 +294,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA } } else if (mapVersion >= 30300 && isFutianSweeper) {//目前只有MAP330的清扫车用的新的FSM状态原因查询 - Log.i(TAG, "能否启动自驾能力检测使用版本：330清扫车专用"); + CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：330清扫车专用"); stop230(); stop250(); stop350And360(); @@ -305,7 +304,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA autopilotAbility330.start(this); } } else if (mapVersion >= 20500) { - Log.i(TAG, "能否启动自驾能力检测使用版本：250"); + CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：250"); stop230(); stop330(); stop350And360(); @@ -315,7 +314,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA autopilotAbility250.start(this); } } else { - Log.i(TAG, "能否启动自驾能力检测使用版本：230"); + CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：230"); stop250(); stop330(); stop350And360(); @@ -380,7 +379,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA startTimer.schedule(new TimerTask() { @Override public void run() { - if (mapVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) { + if (mapVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == AdasConstants.IpcConnectionStatus.CONNECTED) { mapVersion = 20300; initAutopilotAbility(); } diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java deleted file mode 100644 index ca2280d1da..0000000000 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java +++ /dev/null @@ -1,31 +0,0 @@ -package com.zhidao.support.adas.high.msg; - -import android.os.SystemClock; - -import com.google.protobuf.InvalidProtocolBufferException; -import com.zhidao.support.adas.high.AdasChannel; -import com.zhidao.support.adas.high.OnAdasListener; -import com.zhidao.support.adas.high.common.CupidLogUtils; -import com.zhidao.support.adas.high.protocol.RawData; - -import mogo.telematics.pad.MessagePad; - -/** - * 自动驾驶设备基础信息请求 - */ -public class BasicInfoReqMessage extends MyAbstractMessageHandler { - - @Override - public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException { - MessagePad.BasicInfoReq autopilotState = MessagePad.BasicInfoReq.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue()); - AdasChannel.calculateTimeConsumingOnDispatchRaw("自动驾驶设备基础信息请求", raw.receiveTime); - long nowTime = 0; - if (CupidLogUtils.isEnableLog()) - nowTime = SystemClock.elapsedRealtime(); - if (adasListener != null) { - adasListener.onBasicInfoReq(raw.getHeader(), autopilotState); - } - AdasChannel.calculateTimeConsumingBusiness("自动驾驶设备基础信息请求", nowTime); -// CupidLogUtils.e("自动驾驶设备基础信息请求--->" + autopilotState.toString()); - } -} diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java index 36e0fb2fea..514d612f5d 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java @@ -34,7 +34,7 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler { adasListener.onCarConfigResp(raw.getHeader(), carConfigResp); } AdasChannel.calculateTimeConsumingBusiness("车机基础信息应答", nowTime); - CupidLogUtils.e("CarConfigRespMessage", "车机基础信息应答--->" + carConfigResp); + CupidLogUtils.e("CarConfigRespMessage", "车机基础信息应答--->" + carConfigResp.toString()); } /** diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSMStatusReasonRespondMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSMStatusReasonRespondMessage.java index 6a6a623aab..a2489c34ef 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSMStatusReasonRespondMessage.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSMStatusReasonRespondMessage.java @@ -1,7 +1,6 @@ package com.zhidao.support.adas.high.msg; import android.os.SystemClock; -import android.util.Log; import com.google.protobuf.InvalidProtocolBufferException; import com.zhidao.support.adas.high.AdasChannel; diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java index 4c87b3583b..52500c03eb 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java @@ -23,7 +23,6 @@ public class MyMessageFactory implements IMyMessageFactory { private IMsg predictionObstacleTrajectoryMessage;//他车轨迹预测 private IMsg planningObjectsMessage;//planning障碍物 - private IMsg basicInfoReqMessage;//自动驾驶设备基础信息请求 private IMsg carConfigRespMessage;//车机基础信息应答 private IMsg recordResultMessage;//数据采集结果 private IMsg globalPathRespMessage;//自动驾驶路径应答 @@ -121,12 +120,6 @@ public class MyMessageFactory implements IMyMessageFactory { planningObjectsMessage = new PlanningObjectsMessage(); } return planningObjectsMessage; - } else if (messageType == MessageType.TYPE_RECEIVE_BASIC_INFO_REQ.typeCode) { - //自动驾驶设备基础信息请求 - if (basicInfoReqMessage == null) { - basicInfoReqMessage = new BasicInfoReqMessage(); - } - return basicInfoReqMessage; } else if (messageType == MessageType.TYPE_RECEIVE_CAR_CONFIG_RESP.typeCode) { //车机基础信息应答 if (carConfigRespMessage == null) { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java index efcb7fec65..56654daa67 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java @@ -20,13 +20,14 @@ import com.zhidao.support.adas.high.common.ReceiveTimeoutManager; import com.zhidao.support.adas.high.common.ReconnectManager; import com.zhidao.support.adas.high.queue.WSByteQueueManager; import com.zhidao.support.adas.high.queue.WebSocketQueueManager; +import com.zhjt.mogo.adas.data.AdasConstants; import com.zhjt.mogo.adas.utils.ByteUtil; import com.zhjt.service.chain.ChainLog; import java.util.Locale; import java.util.Random; import java.util.concurrent.TimeUnit; -import java.util.concurrent.atomic.AtomicBoolean; +import java.util.concurrent.atomic.AtomicReference; import okhttp3.OkHttpClient; import okhttp3.Request; @@ -50,48 +51,40 @@ import okio.ByteString; */ public class FpgaSocket implements IWebSocket { private static final String TAG = FpgaSocket.class.getSimpleName(); - private OkHttpClient client; + private final OkHttpClient client; private volatile RealWebSocket mWebSocket; - private EchoWebSocketListener listener; - private IWebSocketConnectListener mWebSocketConnectListener; - private ReconnectManager reconnectManager; + private IWebSocketConnectListener listener; + private final ReconnectManager reconnectManager; private String wsHost; private String ipAddress; private int port; - private boolean isEnableReconnect = true;//是否启用重连机制 /** * 是否是用户主动关闭socket + * 0:未调用 1：用户调用 2：认证失败调用 3：被动调用 */ - private final AtomicBoolean isUserClose = new AtomicBoolean(false); - /** - * 是否是被动关闭 - */ - private final AtomicBoolean isPassiveClose = new AtomicBoolean(false); - /** - * 是否已经连接成功 - */ - private final AtomicBoolean isConnected = new AtomicBoolean(false); + private final AtomicReference status = new AtomicReference<>(AdasConstants.IpcConnectionStatus.DISCONNECTED); + + public interface IWebSocketConnectListener { + /** + * websocket 连接状态 + * + * @param status 状态 + * @param args {@link AdasConstants.IpcConnectionStatus#CONNECTED}args有两个参数 分别是ipAddress（String类型）、port（Int类型） + * {@link AdasConstants.IpcConnectionStatus#CONNECT_EXCEPTION}args有一个参数 连接失败的原因（String类型） + */ + void onWebSocketConnectStatus(AdasConstants.IpcConnectionStatus status, Object... args); + + void onMessage(String message); + + //TODO 计算耗时 临时测试 + void onMessage(long receiveTime, ByteString bytes) throws InvalidProtocolBufferException; + } - /** - * 接收数据超时原因 null时表示不是接收数据超时的原因 - */ - private volatile String receiveTimeoutReason = null; - private Context context; public FpgaSocket(Context context) { - this.context = context; - init(); - } - - public boolean isConnected() { - return isConnected.get(); - } - - private void init() { - listener = new EchoWebSocketListener(); OkHttpClient.Builder okBuilder = new OkHttpClient.Builder(); okBuilder.writeTimeout(4, TimeUnit.SECONDS) .readTimeout(4, TimeUnit.SECONDS) @@ -99,99 +92,111 @@ public class FpgaSocket implements IWebSocket { ReceiveTimeoutManager.getInstance().setListener(new ReceiveTimeoutManager.OnTimeoutListener() { @Override public void onTimeout(double time) { - receiveTimeoutReason = "心跳超时（" + time + "秒）"; - onPassiveClose(1001, receiveTimeoutReason); + setStatus(AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT); + callConnectStatus(time); + close(false, 1001); + reconnectStart(); + } + }); + reconnectManager = new ReconnectManager(context, new ReconnectManager.OnReconnectListener() { + @Override + public void onReconnection(AdasConstants.IpcConnectionStatus status) { + setStatus(status); + connect(); } }); client = okBuilder.build(); } + public void setWebSocketListener(IWebSocketConnectListener listener) { + this.listener = listener; + } + + public boolean isConnected() { + return status.get() == AdasConstants.IpcConnectionStatus.CONNECTED; + } + + + public void setStatus(AdasConstants.IpcConnectionStatus s) { + CupidLogUtils.log(TAG, "当前状态=" + s); + status.set(s); + } + + public AdasConstants.IpcConnectionStatus getStatus() { + return status.get(); + } + //配置是否启用重连 - public void setEnableReconnect(boolean enableReconnect) { - isEnableReconnect = enableReconnect; - Log.i(TAG, "是否启动自动重连=" + enableReconnect); - if (isEnableReconnect) { - if (reconnectManager == null) - reconnectManager = new ReconnectManager(context, new ReconnectManager.OnReconnectListener() { - @Override - public void onReconnection(String tag) { - connect("重连中（" + tag + "）"); - } - }); - } else { - if (reconnectManager != null) { - reconnectManager.stop(); - reconnectManager = null; - } - } + public void setReconnectCount(int count) { +// if (!isNeedReconnect()) { +// setStatus(AdasConstants.IpcConnectionStatus.DISCONNECTED);//如果不进行重连将重置状态，否则会导致无法连 +// } + reconnectManager.setReconnectCount(count); + } + + /** + * 是否正在重连 + * + * @return 是否正在重连 + */ + public boolean isReconnection() { + return reconnectManager.isReconnection(); } @Override public void connectWebSocket(String address, int port) { this.ipAddress = address; this.port = port; - isUserClose.set(false); - isPassiveClose.set(false); + setStatus(AdasConstants.IpcConnectionStatus.CONNECTING); wsHost = WS_IP_HOST_HEAD + address + String.format(Locale.getDefault(), RESOURCE_PATH, port); CupidLogUtils.i(TAG, "WebSocket 主动连接= " + wsHost); - connect("连接中"); + connect(); } - private synchronized void connect(String msg) { + /** + * 连接 + */ + private synchronized void connect() { if (mWebSocket == null) { - if (mWebSocketConnectListener != null) - mWebSocketConnectListener.onConnecting(msg); + callConnectStatus(); Request request = new Request.Builder() .url(wsHost) .build(); - mWebSocket = new RealWebSocket(request, listener, new Random(), client.pingIntervalMillis()); + mWebSocket = new RealWebSocket(request, new EchoWebSocketListener(), new Random(), client.pingIntervalMillis()); mWebSocket.connect(client); // mWebSocket = client.newWebSocket(request, listener); } } - private void reconnectCmd(boolean isStart) { - if (reconnectManager != null) { - if (isStart) { - if (isEnableReconnect) { - reconnectManager.start(); - } - } else { - reconnectManager.stop(); - } - } + /** + * 启动重连功能 + */ + private void reconnectStart() { + ReceiveTimeoutManager.getInstance().stop(); + reconnectManager.start(); } - /** - * 重连 - */ - private void reconnect() { - if (!isUserClose.get()) { - reconnectCmd(true); - } else { - isUserClose.set(false); - } + private void reconnectStop(boolean isResetCurrentCount) { + reconnectManager.stop(isResetCurrentCount); } + @Override - public void closeWebSocket() { + public void closeWebSocket(boolean isCertificationFailed) { if (AdasChannel.isUseQueue) { WebSocketQueueManager.getInstance().release(); WSByteQueueManager.getInstance().release(); } - isUserClose.set(true); - isPassiveClose.set(false); - reconnectCmd(false); - if (mWebSocket != null) { - close(true, 1000); - } else { - onConnectFailed(null); - } + setStatus(isCertificationFailed ? AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED : AdasConstants.IpcConnectionStatus.DISCONNECTED); + reconnectStop(true);//停止重连 + ReceiveTimeoutManager.getInstance().stop();//关闭超时 + close(false, isCertificationFailed ? 1001 : 1000);//关闭连接 + callConnectStatus();//回调状态 } @Override public boolean sendDataWebSocket(String data) { - if (mWebSocket != null && isConnected.get()) { + if (mWebSocket != null && isConnected()) { boolean result = mWebSocket.send(data); CupidLogUtils.i(TAG, "WebSocket send String= " + data + ", result= " + result); return result; @@ -201,36 +206,15 @@ public class FpgaSocket implements IWebSocket { @Override public boolean sendDataWebSocket(ByteString data) { - if (mWebSocket != null && isConnected.get()) { + if (mWebSocket != null && isConnected()) { boolean result = mWebSocket.send(data); -// CupidLogUtils.i(TAG, "WebSocket send ByteString=" + ByteUtil.byteArrToHex(data.toByteArray()) + ", result= " + result); - Log.i("[tag=" + TAG + "]", "[data=WebSocket send ByteString=" + ByteUtil.byteArrToHex(data.toByteArray()) + ", result= " + result + "]"); + CupidLogUtils.log(TAG, "WebSocket send ByteString=" + ByteUtil.byteArrToHex(data.toByteArray()) + ", result= " + result); return result; } return false; } - public interface IWebSocketConnectListener { - /** - * 正在连接 - */ - void onConnecting(String msg); - - void onWebSocketConnectSuccess(String ipAddress, int port); - - void onWebSocketConnectFailed(String t); - - void onMessage(String message); - - //TODO 计算耗时 临时测试 - void onMessage(long receiveTime, ByteString bytes) throws InvalidProtocolBufferException; - } - - public void setWebSocketListener(IWebSocketConnectListener listener) { - mWebSocketConnectListener = listener; - } - public class EchoWebSocketListener extends WebSocketListener { @ChainLog(linkChainLog = CHAIN_TYPE_INIT_STATUS, @@ -242,15 +226,16 @@ public class FpgaSocket implements IWebSocket { super.onOpen(webSocket, response); // mWebSocket = webSocket; boolean isConnect = response.code() == 101; - isConnected.set(isConnect); - if (!isConnect) { - onPassiveClose(1001, "協議不匹配"); - } else { - reconnectCmd(false); + setStatus(isConnect ? AdasConstants.IpcConnectionStatus.CONNECTED : AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH); + if (isConnect) { + reconnectStop(false);//不重置重连次数的原因是因为，域控踢掉的时候要记录重连的次数 ReceiveTimeoutManager.getInstance().start(); CupidLogUtils.i(TAG, "WebSocket 连接成功"); - if (mWebSocketConnectListener != null) - mWebSocketConnectListener.onWebSocketConnectSuccess(ipAddress, port); + callConnectStatus(ipAddress, port); + } else { + close(false, 1001); + callConnectStatus(); + reconnectStart(); } } @@ -263,8 +248,8 @@ public class FpgaSocket implements IWebSocket { if (AdasChannel.isUseQueue) { WebSocketQueueManager.getInstance().addQueueData(text); } else { - if (mWebSocketConnectListener != null) - mWebSocketConnectListener.onMessage(text); + if (listener != null) + listener.onMessage(text); } } @@ -290,8 +275,8 @@ public class FpgaSocket implements IWebSocket { WSByteQueueManager.getInstance().addQueueData(bytes); } else { try { - if (mWebSocketConnectListener != null) - mWebSocketConnectListener.onMessage(nowTime, bytes); + if (listener != null) + listener.onMessage(nowTime, bytes); } catch (InvalidProtocolBufferException e) { e.printStackTrace(); } @@ -305,16 +290,27 @@ public class FpgaSocket implements IWebSocket { @Override public void onClosing(@NonNull WebSocket webSocket, int code, @NonNull String reason) { super.onClosing(webSocket, code, reason); - String msg = "Closing Code=" + code + " reason="; - if (TextUtils.isEmpty(reason)) - reason = "服务端关闭"; - msg += reason; - CupidLogUtils.e(TAG, msg); + + if (status.get() == AdasConstants.IpcConnectionStatus.DISCONNECTED //用户主动关闭 + || status.get() == AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER //重连关闭 + || status.get() == AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK //重连关闭 + || status.get() == AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED //认证失败关闭 + || status.get() == AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT //心跳超时关闭 + || status.get() == AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH //協議不匹配关闭 + ) { + CupidLogUtils.log(TAG, "关闭 Closing Code=" + code + " Reason=" + reason + " Status=" + status.get()); + return; + } + setStatus(AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED); + CupidLogUtils.log(TAG, "关闭 Closing Code=" + code + " Reason=" + reason + " Status=" + status.get()); int clientCloseCode = 1000; if (code != 1000) { clientCloseCode = 1001; } - onPassiveClose(clientCloseCode, msg); + close(false, clientCloseCode); + callConnectStatus(reason); + //当服务端关闭时，停止超时检测并启动重连 + reconnectStart(); } /** @@ -323,7 +319,7 @@ public class FpgaSocket implements IWebSocket { @Override public void onClosed(@NonNull WebSocket webSocket, int code, @NonNull String reason) { super.onClosed(webSocket, code, reason); - CupidLogUtils.e(TAG, code + " Closed reason= " + reason); + CupidLogUtils.log(TAG, "关闭完成 Closed Code=" + code + " Reason=" + reason + " Status=" + status.get()); // String msg = "Code=" + code + " "; // if (TextUtils.isEmpty(reason)) // reason = "未知原因"; @@ -334,71 +330,59 @@ public class FpgaSocket implements IWebSocket { @Override public void onFailure(@NonNull WebSocket webSocket, @NonNull Throwable t, Response response) { super.onFailure(webSocket, t, response); - CupidLogUtils.e(TAG, "WebSocket onFailure 是否是被动关闭：" + isPassiveClose + " Throwable=" + t); - if (isPassiveClose.get()) { - isPassiveClose.set(false); + CupidLogUtils.log(TAG, "WebSocket onFailure Throwable=" + t); + AdasConstants.IpcConnectionStatus s = status.get(); + if (s == AdasConstants.IpcConnectionStatus.DISCONNECTED || + s == AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED || + s == AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT || + s == AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH) { return; } - String reason = t.toString(); + setStatus(AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION); + String message = t.getLocalizedMessage(); + String reason = (message != null) ? message : t.getClass().getSimpleName(); //连接异常或关闭异常不进行堆栈打印 if (!reason.toLowerCase().contains("failed to connect to") && !reason.contains("Socket closed")) - CupidLogUtils.e(TAG, "WebSocket onFailure", t); - if (TextUtils.isEmpty(reason)) - reason = "未知原因"; - if (!TextUtils.isEmpty(receiveTimeoutReason)) { - reason = receiveTimeoutReason; - receiveTimeoutReason = null; - } - if (mWebSocket != null) { - close(false, 1001); - } - onConnectFailed("Failure " + reason); + Log.e("[tag=" + TAG + "]", "[data=WebSocket onFailure]", t); + close(true, 1001); + callConnectStatus(reason); + reconnectStart(); } } - private void onConnectFailed(String reason) { - receiveTimeoutReason = null; - ReceiveTimeoutManager.getInstance().stop(); - if (mWebSocketConnectListener != null) { - reason = "未连接 " + reason; - if (isUserClose.get()) - reason = null; - mWebSocketConnectListener.onWebSocketConnectFailed(reason); + + private void callConnectStatus(Object... reason) { + if (listener != null) { + listener.onWebSocketConnectStatus(status.get(), reason); } - reconnect(); } /** - * 被动关闭 包含：服务断开 心跳超时 等 + * 关闭 * - * @param reason + * @param isCancel 发生异常的时候true + * @param code 关闭码 */ - private void onPassiveClose(int code, String reason) { - isPassiveClose.set(true); - if (mWebSocket != null) { - close(false, code); - } - onConnectFailed(reason); - } - - /** - * @param isInitiative 是否是主动断开 - * @param code code - */ - private synchronized void close(boolean isInitiative, int code) { - isConnected.set(false); + private synchronized void close(boolean isCancel, int code) { if (mWebSocket != null) { String closeReason = null; - if (isInitiative) { + AdasConstants.IpcConnectionStatus s = status.get(); + if (s == AdasConstants.IpcConnectionStatus.DISCONNECTED) { closeReason = "用户主动关闭"; + } else if (s == AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED) { + closeReason = "认证失败"; + } else if (s == AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT) { + closeReason = "心跳超时"; + } else if (s == AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH) { + closeReason = "協議不匹配"; } boolean isClose = mWebSocket.close(code, closeReason); - CupidLogUtils.i(TAG, "WebSocket " + (isInitiative ? "主动" : "被动") + "断开连接是否成功= " + isClose); - if (!isInitiative) { + CupidLogUtils.log(TAG, "WebSocket code=" + code + " isCancel=" + isCancel + " 断开连接是否成功= " + isClose); + if (isCancel) { mWebSocket.cancel(); } + mWebSocket = null; } - mWebSocket = null; } public WebSocket getWebSocket() { diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/IWebSocket.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/IWebSocket.java index 5403beed5d..7f2b8943d1 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/IWebSocket.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/IWebSocket.java @@ -22,8 +22,10 @@ public interface IWebSocket { /** * 关闭webSocket + * + * @param isCertificationFailed 是否验证失败 */ - void closeWebSocket(); + void closeWebSocket(boolean isCertificationFailed); /** * websocket send data diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java index af74efd161..09fd0496d0 100644 --- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java +++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java @@ -63,7 +63,7 @@ public class DispatchHandler { public void sendRawMessage(RawData raw) { start(); - if (messageType == MessagePad.MessageType.MsgTypePointCloud) { + if (messageType == MessagePad.MessageType.MsgTypePointCloud && Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) { boolean isIdle = mBaseHandler.getLooper().getQueue().isIdle(); // Log.i("TimeConsuming", mThread.getName() + " 当前消息队列是否处于空闲状态=" + isIdle); if (!isIdle) { @@ -128,6 +128,11 @@ public class DispatchHandler { mBaseHandler.postDelayed(runnable, delayMillis); } + public void removeCallbacks(Runnable runnable) { + if (mBaseHandler != null) { + mBaseHandler.removeCallbacks(runnable); + } + } protected static class BaseHandler extends Handler { private final WeakReference mObjects;